Design of a fuzzy control system for two wheeled inverted

Author

Gun-oo Jeong ; Jang-Myung Lee

Author_Institution

Dept. of Electrics Eng., Pusan Nat. Univ., Busan, South Korea

fYear

2012

fDate

26-28 Nov. 2012

Firstpage

458

Lastpage

461

Abstract

In this paper, a control system for two wheeled inverted pendulum robot is designed to have more stable balancing capability than conventional control system. Fuzzy control system is selected for the two wheeled inverted pendulum mobile robot, and fuzzy membership function factors for the control system are obtained for specified 3 users´ weights using trial-and-error method. Next a neural network is employed to generate fuzzy membership function factors for more stable control performance when the user´s weight is arbitrarily selected. Through the simulation study, we find that the designed fuzzy controller using the neural network is better than the conventional fuzzy controller.

Keywords

control system synthesis; fuzzy control; mobile robots; neurocontrollers; nonlinear control systems; stability; fuzzy control system design; fuzzy membership function factors; neural network; stable balancing capability; stable control performance; trial-and-error method; two wheeled inverted pendulum mobile robot; Robots; Fuzzy; Inverted pendulum; Neural network;

fLanguage

English

Publisher

ieee

Conference_Titel

Ubiquitous Robots and Ambient Intelligence (URAI), 2012 9th International Conference on

Conference_Location

Daejeon

Print_ISBN

978-1-4673-3111-1

Electronic_ISBN

978-1-4673-3110-4

Type

conf

DOI

10.1109/URAI.2012.6463039

Filename

6463039