Design and Development of Mamdani-Like Fuzzy Control Algorithm for a Wheeled Human-Conveyance Vehicle Control

Author

Chiu, Chih-Hui ; Chang, Chun-Chieh

Author_Institution

Dept. of Electr. Eng., Yuan Ze Univ., Chungli, Taiwan

Volume

59

Issue

12

fYear

2012

Firstpage

4774

Lastpage

4783

Abstract

A wheeled human-conveyance vehicle (WHCV) with a low-level microprocessor is realized in this paper. WHCVs are environmentally friendly short-range transportation vehicles. This paper proposes a simple Mamdani-like fuzzy controller for self-balancing WHCV control. System stability is guaranteed by establishing sufficient conditions based on the Lyapunov stability analysis. Finally, experimental results show that the proposed Mamdani-like fuzzy control strategy can control the WHCV.

Keywords

Lyapunov methods; electric vehicles; fuzzy control; microprocessor chips; road traffic control; stability; wheels; Lyapunov stability analysis; Mamdani-like fuzzy control algorithm; low-level microprocessor; self-balancing WHCV control; short-range transportation vehicle; wheeled human-conveyance vehicle control; Control systems; Fuzzy control; Lyapunov methods; Pulse width modulation; Stability analysis; Vehicle dynamics; Vehicles; Lyapunov stability analysis; Mamdani-like fuzzy control; microprocessor; wheeled human-conveyance vehicle (WHCV);

fLanguage

English

Journal_Title

Industrial Electronics, IEEE Transactions on

Publisher

ieee

ISSN

0278-0046

Type

jour

DOI

10.1109/TIE.2011.2180489

Filename

6109342