Model-based fuzzy control application to a self-balancing two-wheeled inverted pendulum

Author

Wang, Wen-June ; Huang, Cheng-Hao

Author_Institution

Dept. of Electr. Eng., Nat. Central Univ., Jhongli, Taiwan

fYear

2009

Firstpage

1158

Lastpage

1163

Abstract

This paper presents a fuzzy parallel distributed compensation (PDC) control design for balancing a two-wheeled inverted pendulum (TWIP). A Takagi-Sugeno (T-S) fuzzy model can be firstly constructed from the nonlinear system model of the TWIP. Based on the T-S fuzzy model, a PDC controller is designed with the aid of linear matrix inequality (LMI) concept. The stability of the fuzzy balance control can be guaranteed by solving the inequalities of LMI. Finally, one simulation and its equivalent experiment are given to demonstrate the effectiveness and feasibility of the control scheme.

Keywords

compensation; control system synthesis; distributed control; fuzzy control; linear matrix inequalities; nonlinear control systems; pendulums; Takagi-Sugeno fuzzy model; control design; fuzzy balance control stability; fuzzy parallel distributed compensation; linear matrix inequality; model-based fuzzy control application; nonlinear system model; self-balancing two-wheeled inverted pendulum; Control design; Equations; Fuzzy control; Fuzzy systems; Nonlinear systems; Stability; Takagi-Sugeno model; Vehicle dynamics; Vehicles; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Applications, (CCA) & Intelligent Control, (ISIC), 2009 IEEE

Conference_Location

Saint Petersburg

Print_ISBN

978-1-4244-4601-8

Electronic_ISBN

978-1-4244-4602-5

Type

conf

DOI

10.1109/CCA.2009.5281126

Filename

5281126