Control system design for two-wheel self-balanced robot based on Fuzzy-PD control

For nonlinear and natural unstable two-wheel self-balanced robot, a compound control algorithm based on Fuzzy-PD is proposed. Firstly, the mathematical model is established based on Newton-Euler\´s theory from the structure of two-wheel self-balanced robot. Secondly, the Fuzzy-PD controller is designed to solve the problem that traditional controllers cannot reach the expected result rapidly and steady in a large range of angle, and decrease the operation time caused by "rule explosion" when using multi-dimension fuzzy controllers in a physical system. Finally, simulation study and physical test are performed to verify the effectiveness of the Fuzzy-PD controller.