Balance control of two-wheeled self-balancing mobile robot based on TS fuzzy model

Author

Qin Yong ; Liu Yanlong ; Zang Xizhe ; Liu Ji

Author_Institution

Higher Educ. Key Lab. for Meas. & Control Technol. & Instrumentations of Heilongjiang Province, Harbin Univ. of Sci. & Technol., Harbin, China

Volume

1

fYear

2011

fDate

22-24 Aug. 2011

Firstpage

406

Lastpage

409

Abstract

Two-wheeled self-balancing robot is a mechanically unstable, nonholonomic constraint robot. This paper has established a dynamics and kinematics for nonholonomic mobile robot. In order to control more effective for self-balancing robot´s balance model, has designed fuzzy controller based on the T-S fuzzy model with the parallel distribution compensator (PDC) the structure. It realizes the robot balance and the movement control. Finally, validity and feasibility of the system modeling and the designed controller were confirmed through the actual test results and the simulation results contrast analysis.

Keywords

control system synthesis; fuzzy control; mobile robots; nonlinear control systems; T-S fuzzy model; fuzzy controller design; nonholonomic constraint robot; nonholonomic mobile robot; parallel distribution compensator; self balancing robot balance model; two wheeled self balancing mobile robot; Analytical models; Mobile robots; Radio frequency; Robot kinematics; Robustness; Video recording; TS Fuzzy model; balance robot; nonlinear fuzzy controller; parallel distribution compensator;

fLanguage

English

Publisher

ieee

Conference_Titel

Strategic Technology (IFOST), 2011 6th International Forum on

Conference_Location

Harbin, Heilongjiang

Print_ISBN

978-1-4577-0398-0

Type

conf

DOI

10.1109/IFOST.2011.6021051

Filename

6021051