International Journal of Fuzzy Logic and Intelligent Systems

Korean Institute of Intelligent Systems (한국지능시스템학회)
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Fuzzy Logic Application to a Two-wheel Mobile Robot for Balancing Control Performance

  • Kim, Hyun-Wook (Intelligent Systems and Emotional Engineering (ISEE) Lab. Department of Mechatronics Engineering Chungnam National University) ;
  • Jung, Seul (Intelligent Systems and Emotional Engineering (ISEE) Lab. Department of Mechatronics Engineering Chungnam National University)
  • Received : 2012.01.03
  • Accepted : 2012.06.15
  • Published : 2012.06.25
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Abstract

This article presents experimental studies of fuzzy logic application to control a two-wheel mobile robot(TWMR) system. The TWMR system is composed of two systems, an inverted pendulum system and a mobile robot system. Although linear controllers can stabilize the TWMR, fuzzy controllers are expected to have robustness to uncertainties so that the resulting performances are expected to be better. Nominal fuzzy rules are used to control balance and position of TWMR. Fuzzy logic is embedded on a DSP chip to control the TWMR. Balancing performances of the PID controller and the fuzzy controller under disturbances are compared through extensive experimental studies.

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References

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