A Two‐Wheeled Self‐Balancing Robot with the Fuzzy PD Control Method

作者：Junfeng Wu, Wanying Zhang, Shengda Wang · 发表于：Mathematical Problems in Engineering · 年份：2012 · DOI：10.1155/2012/469491 · 被引用次数：58 · 研究领域：Robotic Path Planning Algorithms、Fuzzy Logic and Control Systems、Control and Dynamics of Mobile Robots

A two‐wheeled self‐balancing robot with a fuzzy PD control method is described and analyzed as an example of a high‐order, multiple‐variable, nonlinear, strong‐coupling, and unstable system. Based on a system structure model, a kinetic equation is constructed using Newtonian dynamics and mechanics. After a number of simulation experiments, we get the best Q , R , and state‐feedback matrices. Then a fuzzy PD controller is designed for which the position and speed of the robot are inputs and for which the angle and angle rate of the robot are controlled by a PD controller. Finally, this paper describes a real‐time control platform for the two‐wheeled self‐balancing robot that controls the robot effectively, after some parameter debugging. The result indicates that the fuzzy PD control algorithm can successfully achieve self‐balanced control of the two‐wheeled robot and prevent the robot from falling.