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
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;
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
DOI :
10.1109/MMAR.2012.6347823
