Adaptive Fuzzy Control of Two-Wheeled Balancing Vehicle

Author

Chen, Jen-Yang ; Liu, Chuan-Hsi ; Chen, Chien-Chun ; Lin, Kuei-Chih

Author_Institution

Dept. of Electron. Eng., Ming Chuan Univ., Taoyuan, Taiwan

fYear

2011

fDate

21-23 Oct. 2011

Firstpage

341

Lastpage

344

Abstract

This paper proposes an adaptive fuzzy controller to balance a constructed two-wheeled vehicle at upright position. The dynamical model of the vehicle-LEGO Mind storms NXT is first established. Based on the model developed, an adaptive fuzzy controller is then illustrated. Adaptation laws are derived from the Lyapunov stability analysis, so that the system tracking performance and the error convergence can be assured in the closed-loop control system. Finally, we apply the PD (Proportional Derivative) controller and the proposed controller to balance the two-wheeled vehicle to compare the system performance.

Keywords

Lyapunov methods; PD control; adaptive control; closed loop systems; fuzzy control; robots; Lyapunov stability analysis; PD controller; adaptive fuzzy control; closed-loop control system; proportional derivative; two wheeled balancing vehicle; vehicle LEGO Mind storms NXT; Adaptation models; DC motors; Fuzzy control; PD control; Robots; Servomotors; Vehicles; Adaptive fuzzy control; Fuzzy control; LEGO Mindstorms NXT; PD control; Two-wheeled balancing vehicle;

fLanguage

English

Publisher

ieee

Conference_Titel

Instrumentation, Measurement, Computer, Communication and Control, 2011 First International Conference on

Conference_Location

Beijing

Print_ISBN

978-0-7695-4519-6

Type

conf

DOI

10.1109/IMCCC.2011.92

Filename

6154070