Robust hybrid fuzzy logic control of a novel two-wheeled robotic vehicle with a movable payload under various operating conditions

A novel design of two-wheeled double inverted pendulum-like vehicle with a movable payload is presented in this paper. The developed design extends the abilities of the vehicle with five degrees of freedom. The increase of degrees of freedom provides the vehicle with more flexibility in maneuvering in narrow spaces and limited travel distances. The dynamic model of the system is derived using Euler-Lagrange approach and simulated in Matlab Simulink environment. A hybrid fuzzy logic control approach is adopted to control and stabilise the vehicle. Various external disturbances are applied to the system to test the robustness of the control approach. It is demonstrated that the proposed controller successfully stabilises the vehicle in the upright position.