Title :
Fuzzy Immune PD Algorithm Applied in the Self-Balancing Two-Wheeled Robot
Author :
Wang Qingcheng ; Fang Jian
Author_Institution :
Jilin Teachers´ Inst. of Eng. & Technol., Changchun, China
Abstract :
Some parameter such as force and speed etc of self-balance two-wheeled robot are nonlinear, so their mathematical model of the control system is difficult to establish. This paper designed a fuzzy immune PD controller, which can achieve self-balance of two-wheeled robot. Through the simulation study, the results show that fuzzy immune PD controller has some advantages compared with the conventional fuzzy PD controller, such as smaller overshoot amount, short adjustment time, and strong anti-jamming capability.
Keywords :
control system synthesis; mobile robots; nonlinear control systems; anti-jamming capability; control system; conventional fuzzy PD controller; fuzzy immune PD algorithm; fuzzy immune PD controller; mathematical model; self-balancing two-wheeled robot; two-wheeled robot self-balancing; Force; Fuzzy control; Immune system; Mathematical model; Mobile robots; PD control; Fuzzy immune PD algorithm; Self-balancing system; Two-wheeled robot;
Conference_Titel :
Future Generation Communication and Networking (FGCN), 2014 8th International Conference on
Conference_Location :
Haikou
Print_ISBN :
978-1-4799-7779-6
DOI :
10.1109/FGCN.2014.35
