The control of two-wheeled inverted pendulum robot (TWIPR) using fuzzy logic

This paper presents a fuzzy logic control strategy for control and stabilization of TWIPR. The TWIPR considered in the study comprises of a robot chassis mounted on two movable wheels. The research objective is to stabilize the system within desired time, overshoot and steady state error. The Matlab Simulink model of the system was built using mathematical equations derived from Newton´s second law of motion. Gbell MF´s has been used for designing of fuzzy logic controllers (FLC´s) for TWIPR. The simulation results proved the validity of the proposed technique.