Design and Implementation of Fuzzy Control on a Two-Wheel Inverted Pendulum

Author

Huang, Cheng-Hao ; Wang, Wen-June ; Chiu, Chih-Hui

Author_Institution

Dept. of Electr. Eng., Nat. Central Univ., Jhongli, Taiwan

Volume

58

Issue

7

fYear

2011

fDate

7/1/2011 12:00:00 AM

Firstpage

2988

Lastpage

3001

Abstract

This paper introduces the design and implementation of a two-wheel inverted pendulum (TWIP) system with a fuzzy control scheme and the system-on-a-programmable-chip (SoPC) technology. The control scheme includes three kinds of fuzzy controls which are the fuzzy balanced standing control (FBSC), the fuzzy traveling and position control (FTPC), and the fuzzy yaw steering control (FYSC). Based on the Takagi-Sugeno fuzzy model of the TWIP, the FBSC is a structure of a parallel distributed compensator solved by the linear matrix inequality approach. Based on the motion characteristic of the TWIP, the FTPC and the FYSC are designed with Mamdani architecture if-then rules. Furthermore, the fuzzy control scheme for the real TWIP is implemented into an SoPC development board with an embedded reduced-instruction-set-computer soft-core processor and user intellectual property modules. Both the computer simulations and practical experiments demonstrate the effectiveness of the proposed control scheme.

Keywords

compensation; control engineering computing; control system synthesis; fuzzy control; linear matrix inequalities; nonlinear control systems; pendulums; position control; reduced instruction set computing; system-on-chip; LMI; Mamdani architecture if-then rules; SoPC technology; Takagi-Sugeno fuzzy model; embedded reduced- instruction-set-computer soft-core processor; fuzzy balanced standing control; fuzzy control design; fuzzy traveling and position control; fuzzy yaw steering control; linear matrix inequality approach; parallel distributed compensator; system-on-a-programmable-chip; two-wheel inverted pendulum system; user intellectual property modules; Adaptation model; Computer architecture; Field programmable gate arrays; Fuzzy control; Hardware; Process control; Wheels; Field-programmable gate array (FPGA); fuzzy control; parallel distributed compensation (PDC); system on a programmable chip (SoPC); two-wheel inverted pendulum (TWIP);

fLanguage

English

Journal_Title

Industrial Electronics, IEEE Transactions on

Publisher

ieee

ISSN

0278-0046

Type

jour

DOI

10.1109/TIE.2010.2069076

Filename

5556004