Balance Control of Two-Wheeled Self-Balancing Mobile Robot Based on TS Fuzzy Model

摘要：

Two-wheeled self-balancing robot is a mechanically unstable, nonholonomic constraint robot. This paper has established a dynamics and kinematics for nonholonomic mobile robot. In order to control more effective for self-balancing robots balance model, has designed fuzzy controller based on the T-S fuzzy model with the parallel distribution compensator (PDC) the structure. It realizes the robot balance and the movement control. Finally, validity and feasibility of the system modeling and the designed controller were confirmed through the actual test results and the simulation results contrast analysis.

关键词： balance robot TS Fuzzy model nonlinear fuzzy controller parallel distribution compensator

作者: Qin Yong Liu Yanlong Zang Xizhe LiuJi

作者单位: College of Measurement and Control Technology and Communication Engineering The higher educational k Robotics Institute Harbin Insti tute of Technology HARBIN CHINA 150080 School of Mechanical & Automotive Engineering South China University of Technology GUANGZHOU CHINA 1

会议类型: 国际会议

会议名称: The 6th International Forum on Strategic Technology(IFOST 2011)(第六届国际战略技术论坛)

会议地点: 哈尔滨

会议语种:英文

页码: 406-409

在线出版日期: 2011-08-22（万方平台首次上网日期，不代表论文的发表时间）