Design of fuzzy logic controller for two-wheeled self-balancing robot

作者：Junfeng Wu, Wanying Zhang · 年份：2011 · DOI：10.1109/ifost.2011.6021250 · 被引用次数：55 · 研究领域：Industrial Technology and Control Systems、Iterative Learning Control Systems、Advanced Sensor and Control Systems

Two-wheeled self-balancing robot is a high order, multiple-variables, non-linear, strong coupling, and instability system. On the basis of building up the system structure model, kinetic equation is built up by using Newton dynamics mechanics theory. After that, the pole placement state-feedback controller and fuzzy logic controller are both designed, both of which have good simulation curves at the same disturbance force. Finally, some simulation experiments be done in the undisturbed and disturbed environment respectively. The simulation results indicate that the fuzzy logic control algorithm can realize the self-balance control of the two-wheeled robot successfully and restrain the robot from falling down, so as to satisfy the anticipated control goals of the robot and obtain the better dynamic performance, so it has the better theory value and the applied research value.