Sharif Digital Repository

In the recent decade many researches have been done on optimizing urban traffic. The invention of single-axel two-wheeled vehicle -which is also known as Segway- is toward this goal. This vehicle was invented in 2002 by Dean Kaman. The Segway doesn’t need fossil fuels, occupies very little space, is very convenient to use and its parallel wheel configuration makes it compact enough to be maneuvered through most spaces. After the invention of the Segway, two wheel balancing robots has attracted more attention and in recent researches Passenger-carrying capacity has been considered. In this project, by taking into account passenger-carrying capacity and possibility of wheel slippage, an exact... 

The inverted pendulum system has been considered as a well known nonlinear system for testing control algorithms. A two-wheeled balancing robot is a mobile inverted pendulum system whose structure is a combination of a wheeled mobile robot and an inverted pendulum system. Published article studied the Robot in different views. Some papers define it as a vehicle, some other try to model and so many use it to determine the control system. This thesis presents design of fuzzy logic controller for a two-wheeled balancing robot using fuzzy methodes. First we have designed a classic fuzzy logic controller to control both of balancing and Trajectory control of robot. The Fuzzy controller was...