Control system design for two-wheel self-balanced robot based on Fuzzy-PD control

For nonlinear and natural unstable two-wheel self-balanced robot, a compound control algorithm based on Fuzzy-PD is proposed. Firstly, the mathematical model is established based on Newton-Euler's theory from the structure of two-wheel self-balanced robot. Secondly, the Fuzzy-PD controller is d...

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Bibliographic Details
Published inFifth International Conference on Intelligent Control and Information Processing pp. 169 - 174
Main Authors Song Xin, Min Gong, Yang Sun, Zhongqiu Zhang
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.08.2014
Subjects
Niobium
PD control
Robots
State feedback
Torque
Wheels
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ISBN1479936499
9781479936496
DOI10.1109/ICICIP.2014.7010333

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Summary:For nonlinear and natural unstable two-wheel self-balanced robot, a compound control algorithm based on Fuzzy-PD is proposed. Firstly, the mathematical model is established based on Newton-Euler's theory from the structure of two-wheel self-balanced robot. Secondly, the Fuzzy-PD controller is designed to solve the problem that traditional controllers cannot reach the expected result rapidly and steady in a large range of angle, and decrease the operation time caused by "rule explosion" when using multi-dimension fuzzy controllers in a physical system. Finally, simulation study and physical test are performed to verify the effectiveness of the Fuzzy-PD controller.
ISBN:1479936499
9781479936496
DOI:10.1109/ICICIP.2014.7010333