DocumentCode
2123684
Title
Design and real-time implementation of a fuzzy logic control system for a two-wheeled robot
Author
Sayidmarie, O.K. ; Tokhi, M.O. ; Almeshal, A.M. ; Agouri, S.A.
Author_Institution
Dept. of Autom. Control & Syst. Eng., Univ. of Sheffield, Sheffield, UK
fYear
2012
fDate
27-30 Aug. 2012
Firstpage
569
Lastpage
572
Abstract
In this paper, fuzzy logic controller is designed for balancing a two-wheeled inverted pendulum robot prototype considering the tilt angle as feedback. Tilt angle sensing error is reduced by adopting a sensor fusion technique. The controller is implemented on an AVR 8-bit microcontroller. The Fuzzy rules are coded and stored in the microcontroller memory. The experimental results show that the robot has the ability to balance during its movement.
Keywords
control system synthesis; feedback; fuzzy control; microcontrollers; mobile robots; nonlinear control systems; sensor fusion; AVR 8-bit microcontroller; feedback; fuzzy logic control system; microcontroller memory; sensor fusion technique; tilt angle sensing error; two-wheeled inverted pendulum robot prototype; Accelerometers; Fuzzy logic; Gyroscopes; Microcontrollers; Mobile robots; Robot sensing systems;
fLanguage
English
Publisher
ieee
Conference_Titel
Methods and Models in Automation and Robotics (MMAR), 2012 17th International Conference on
Conference_Location
Miedzyzdrojie
Print_ISBN
978-1-4673-2121-1
Type
conf
DOI
10.1109/MMAR.2012.6347823
Filename
6347823
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