Title :
The fuzzy controller designing of the self-balancing robot
Author :
Hao, Qian ; Li, Peng ; Chang, Yun Ze ; Yang, Feng
Author_Institution :
Center of Nat. Electr. & Electron. Exp. Teaching, North Univ. of China, Taiyuan, China
Abstract :
Referring to unsteady, nonlinear, and strong coupling of the self-balancing robot, This paper using Newtonian mechanics to build the steering movements of mathematical models which contain Fuzzy controller and Fuzzy control methods to control the self-balancing robot. At last, using Matlab to simulate the angle of swing link, angular velocity of swing link, velocity and displacement, the result of the simulation suggested that system has good balance and robustness, has advantage in immunity and adjusting the time.
Keywords :
angular velocity control; control system synthesis; fuzzy control; mathematical analysis; mobile robots; robot dynamics; steering systems; Matlab; Newtonian mechanics; angle of swing link; angular velocity; fuzzy controller designing; mathematical models; self-balancing robot; steering movements; Adaptation models; Control systems; Mobile communication; Niobium; Robots; Robustness; Zirconium; Fuzzy controller; System Modeling; The self-balancing robot;
Conference_Titel :
Electronics and Optoelectronics (ICEOE), 2011 International Conference on
Conference_Location :
Dalian
Print_ISBN :
978-1-61284-275-2
DOI :
10.1109/ICEOE.2011.6013288
