Design and Implementation of Fuzzy Control on a Two-Wheel Inverted Pendulum

作者：Chenghao Huang, Wen-June Wang, Chih-Hui Chiu · 发表于：IEEE Transactions on Industrial Electronics · 年份：2010 · DOI：10.1109/tie.2010.2069076 · 被引用次数：201 · 研究领域：Control and Dynamics of Mobile Robots、Vehicle Dynamics and Control Systems、Adaptive Control of Nonlinear Systems

This paper introduces the design and implementation of a two-wheel inverted pendulum (TWIP) system with a fuzzy control scheme and the system-on-a-programmable-chip (SoPC) technology. The control scheme includes three kinds of fuzzy controls which are the fuzzy balanced standing control (FBSC), the fuzzy traveling and position control (FTPC), and the fuzzy yaw steering control (FYSC). Based on the Takagi-Sugeno fuzzy model of the TWIP, the FBSC is a structure of a parallel distributed compensator solved by the linear matrix inequality approach. Based on the motion characteristic of the TWIP, the FTPC and the FYSC are designed with Mamdani architecture if-then rules. Furthermore, the fuzzy control scheme for the real TWIP is implemented into an SoPC development board with an embedded reduced-instruction-set-computer soft-core processor and user intellectual property modules. Both the computer simulations and practical experiments demonstrate the effectiveness of the proposed control scheme.