Network-based H∞ fuzzy control for a self-balancing two-wheeled inverted pendulum

This paper investigates network-based H∞ fuzzy control for a self-balancing two-wheeled inverted pendulum via a T-S fuzzy model. Due to the insertion of a communication network between the pendulum and a fuzzy controller, the fuzzy control is implemented in an asynchronous way. Unlike the existing works, asynchronous constraints on fuzzy membership functions are introduced in deriving some delay-dependent criteria for H∞ performance analysis and controller design. A numerical example shows that the proposed method using asynchronous constrains can stabilize the pendulum and achieve a better H∞ performance.