DocumentCode :
2684749
Title :
Intelligent control in two-wheel self-balanced robot
Author :
Wei, Wu ; Xiaoning, Ma ; Jijun, Wang
Author_Institution :
Sch. of Electr. Eng., Shenyang Univ. of Technol., Shenyang, China
Volume :
3
fYear :
2010
fDate :
24-26 Aug. 2010
Firstpage :
470
Lastpage :
473
Abstract :
To balance the two-wheel self-balanced robot, it is essential that the system is able to quickly rectify after it deviates from the balance. This paper proposes to combine fuzzy control and traditional PID control which in turn minimizes the impact of disturbance. Fuzzy control is independent on the mathematical model of the controlled system, and it is applicable to non-linear system as well. It minimizes the impact of disturbance and parameter variation, and improves the effectiveness of the control system. It is tested by experiment and simulation that fuzzy PID controller is fast and robust.
Keywords :
fuzzy control; intelligent control; mobile robots; nonlinear systems; three-term control; wheels; PID control; fuzzy control; intelligent control; nonlinear system; two-wheel selfbalanced robot; MATLAB; Robustness; PID control; fuzzy control; two-wheel self-balanced robot;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Computer, Mechatronics, Control and Electronic Engineering (CMCE), 2010 International Conference on
Conference_Location :
Changchun
Print_ISBN :
978-1-4244-7957-3
Type :
conf
DOI :
10.1109/CMCE.2010.5610286
Filename :
5610286
Link To Document :
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