Self-balancing control using Wavelet Fuzzy CMAC for uncertain omnidirectional ball-driven vehicles

Author

Souleymane, Coulibaly ; Ching-Chih Tsai ; Ying-Pin Chiu

Author_Institution

Higher Normal Sch., Univ. of Koudougou, Koudougou, Burkina Faso

fYear

2013

fDate

6-8 Dec. 2013

Firstpage

245

Lastpage

250

Abstract

This paper presents a self-balancing controller using Wavelet Fuzzy CMAC (WFCMAC) technology for uncertain omnidirectional ball-driven vehicle. The vehicle is designed to self-balancing and motion control by following the rider´s inclination angles in both two axes (x-z and y-z axis). The backstepping technique with WFCMAC for nonlinear model will be designed to overcome significant system uncertainties. WFCMAC is designed in order to achieve self-balancing for the vehicle with different unknown frictions between the wheel and the terrain surfaces. The performance and merit of the proposed method are well exemplified by conducting simulations on a laboratory-built omnidirectional ball-driven vehicle.

Keywords

cerebellar model arithmetic computers; fuzzy control; fuzzy neural nets; mobile robots; motion control; neurocontrollers; nonlinear control systems; self-adjusting systems; uncertain systems; wavelet neural nets; WFCMAC; backstepping technique; motion control; nonlinear model; rider inclination angles; self-balancing control; uncertain omnidirectional ball-driven vehicles; wavelet fuzzy CMAC; Adaptation models; Backstepping; Educational institutions; Equations; Friction; Mathematical model; Vehicles; Backstepping technique; Wavelet Fuzzy CMAC; nonlinear model; omnidirectional ball-driven vehicle;

fLanguage

English

Publisher

ieee

Conference_Titel

Fuzzy Theory and Its Applications (iFUZZY), 2013 International Conference on

Conference_Location

Taipei

Type

conf

DOI

10.1109/iFuzzy.2013.6825444

Filename

6825444