Balancing Control of Two-Wheeled Upstanding Robot Using Adaptive Fuzzy Control Method
A method based on direct adaptive fuzzy control was proposed according to upstanding-balancing control problem for Two-Wheeled Upstanding Robot. Different from the fuzzy control, it didnt need to design the fuzzy rules in the beginning. And there was not strict limit to the constant before input. Experiments showed that the constant could be positive and negative, and could be a function in an interval with the same sign. The control result was almost the same. The simulation showed that the method had a better control result of upstanding and balancing for the robot even though the initial angle was larger. In contrast to the traditional fuzzy control, the scheme improved the stability effectively, and it was implemented that the stable control process for the Two-Wheeled Upstanding Robot from almost recumbent state to upstanding and balancing
Two-Wheeled Upstanding Robot upstanding-balancing control fuzzy control adaptive fuzzy control
Xiaogang Ruan Jing Chen Jianxian Cai Lizhen Dai
School of Electronic Information and Control Engineering Beijing University of Technology Beijing,China
国际会议
上海
英文
998-1001
2009-11-20（万方平台首次上网日期，不代表论文的发表时间）