Design of Fuzzy Logic Controller for Two-wheeled Self-balancing Robot
Two-wheeled self-balancing robot is a high order, multiple-variables, non-linear, strong coupling, and instability system. On the basis of building up the system structure model, kinetic equation is built up by using Newton dynamics mechanics theory. After that, the pole placement state-feedback controller and fuzzy logic controller are both designed, both of which have good simulation curves at the same disturbance force. Finally, some simulation experiments be done in the undisturbed and disturbed environment respectively. The simulation results indicate that the fuzzy logic control algorithm can realize the self-balance control of the two-wheeled robot successfully and restrain the robot from falling down, so as to satisfy the anticipated control goals of the robot and obtain the better dynamic performance, so it has the better theory value and the applied research value.
fuzzy control pole placement two-wheeled self-balancing robot control theory
Junfeng Wu Wanying Zhang
College of Automation Harbin University of Science & Technology Harbin,China
国际会议
The 6th International Forum on Strategic Technology(IFOST 2011)(第六届国际战略技术论坛)
哈尔滨
英文
1266-1270
2011-08-22（万方平台首次上网日期，不代表论文的发表时间）