International Journal of Fuzzy Logic and Intelligent Systems

Korean Institute of Intelligent Systems (한국지능시스템학회)
권호 표지
DOI QR코드

DOI QR Code

Design of Simple-Structured Fuzzy Logic Systems for Segway-Type Mobile Robot

  • Yoo, Hyun-Ho (Department of Electronics Engineering, Daegu University) ;
  • Choi, Byung-Jae (Department of Electronics Engineering, Daegu University)
  • Received : 2015.11.16
  • Accepted : 2015.12.25
  • Published : 2015.12.25
Download PDF
⟨ Previous Next ⟩

Abstract

Studies on the control of the inverted pendulum type system have been widely reported. This is because it is a typical complex nonlinear system and may be a good model for verifying the performance of a proposed control system. In this paper, we propose the design of some fuzzy logic control (FLC) systems for controlling a Segway-type mobile robot, which is an inverted pendulum type system. We first derive a dynamic model of the Segway-type mobile robot and then analyze it in detail. Next, we propose the design of some FLC systems that have good performance for the control of any nonlinear system. Then, we design two conventional FLC systems for the position and balance control of the Segway-type mobile robot, and we demonstrate their usefulness through simulations. Next, we point out the possibility of simplifying the design process and reducing the computational complexity,, which results from the skew symmetric property of the fuzzy control rule tables. Finally, we design two other FLC systems for position and balance control of the Segway-type mobile robot. These systems have only one input variable in the FLC systems. Furthermore, we observe that they offer similar control performance to that of the conventional two-input FLC systems.

Keywords

References

  1. Segway Inc., Available: http://www.segway.com
  2. J. H. Park, "Fuzzy-logic zero-moment-point trajectory generation for reduced trunk motions of biped robots," Fuzzy Set Techniques for Intelligent Robotic Systems, vol. 134, no. 1, pp. 189-203, 2003. http://dx.doi.org/10.1016/s0165-0114(02)00237-3
  3. S. H. Lee and S. Y. Rhee, "Dynamic modeling of a wheeled inverted pendulum for inclined road and changing its center of gravity," Journal of Korean Institute of Intelligent Systems, vol. 22, no. 1, pp. 69-74, 2012. http://dx.doi.org/10.5391/jkiis.2012.22.1.69
  4. H. Ha and J. Lee, "A control of mobile inverted pendulum using single accelerometer," Journal of Institute of Control, Robotics and Systems, vol. 16, no. 5, pp. 440-445, 2010. http://dx.doi.org/10.5302/j.icros.2010.16.5.440
  5. S. W. Nawawi, M. N. Ahmad, and J. H. S. Osman, "Control of two-wheels inverted pendulum mobile robot using full order sliding mode control," in Proceedings of International Conference on Man-Machine Systems, Langkawi, Malaysia, 2006, pp. 1-6.
  6. P. Axelsson and Y. Jung, "Lego Segway project report," Division of Automatic Control, Department of Electrical Engineering, Link?pings Universitet, Link?ping, Sweden, Tech. Rep. LiTH-ISY-R-3006, 2011.
  7. J. S. Noh, G. H. Lee, and S. Jung, "Position control of a mobile inverted pendulum system using radial basis function network," International Journal of Control, Automation and Systems, vol. 8, no. 1, pp. 157-162, 2010. http://dx.doi.org/10.1007/s12555-010-0120-0
  8. J. Huang, Z. H. Guan, T. Matsuno, T. Fukuda, and K. Sekiyama, "Sliding-mode velocity control of mobilewheeled inverted-pendulum systems," IEEE Transactions on Robotics, vol. 26, no. 4, pp. 750-758, 2010. http://dx.doi.org/10.1109/tro.2010.2053732
  9. L. Mao, J. Huang, F. Ding, and Y. Wang, "Velocity control of mobile wheeled inverted pendulum," International Journal of Modelling, Identification and Control, vol. 19, no. 1, pp. 43-51, 2013. http://dx.doi.org/10.1504/ijmic.2013.054036
  10. B. J. Choi and S. Jin, "Design of simple-structured fuzzy logic system based driving controller for mobile robot," Journal of Korean Institute of Intelligent Systems, vol. 22, no. 1, pp. 1-6, 2012. http://dx.doi.org/10.5391/jkiis.2012.22.1.1
  11. B. H. Kim, "Analysis of balance of quadrupedal robotic walk using measure of balance margin," International Journal of Fuzzy Logic and Intelligent Systems, vol. 13, no. 2, pp. 100-105, 2013. http://dx.doi.org/10.5391/ijfis.2013.13.2.100
  12. K. D. Do and G. Seet, "Motion control of a two-wheeled mobile vehicle with an inverted pendulum," Journal of Intelligent & Robotic Systems, vol. 60, no. 3, pp. 577-605. 2010. http://dx.doi.org/10.1007/s10846-010-9432-9
  13. Q. N. Van, H. M. Eum, J. Lee, and C. H. Hyun, '"Vision sensor-based driving algorithm for indoor automatic guided vehicles," International Journal of Fuzzy Logic and Intelligent Systems, vol. 13, no. 2, pp. 140-146, 2013. http://dx.doi.org/10.5391/ijfis.2013.13.2.140
  14. B. J. Choi, S. W. Kwak, and B. K. Kim, "Design and stability analysis of single-input fuzzy logic controller," IEEE Transactions on Fuzzy Systems, Man and Cybernetics, Part B Cybernetics, vol. 30, no. 2, pp. 303-309, 2000. http://dx.doi.org/10.1109/3477.836378
  15. S. Kwak and B. J. Choi, "Design of fuzzy logic control system for Segway type mobile robots," International Journal of Fuzzy Logic and Intelligent Systems, vol. 15, no. 2, pp. 126-131, 2015. http://dx.doi.org/10.5391/ijfis.2015.15.2.126

Cited by

  1. Design of Robotic Vehicle for Personal Mobility with Electric-Driven Three-Wheels vol.13, pp.04, 2016, https://doi.org/10.1142/S0219843616500201
  2. Design of Vectored Sum Defuzzification Based Fuzzy Logic System for Hovering Control of Quad-Copter vol.16, pp.4, 2016, https://doi.org/10.5391/IJFIS.2016.16.4.318