Efficient Algorithm for Two-wheeled Self Balancing Robot Control Using Fuzzy Methods

Hamid, Heydar | 2016

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 48699 (05)
  4. University: Sharif University of Technology
  5. Department: Electrical Engineering
  6. Advisor(s): Bagheri Shouraki, Saeed
  7. Abstract:
  8. 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 implemented in Matlab and showed good performance for control of the robot. Next, fuzzy PID controller was designed and implemented on robot and compared with PID controller. Finally, a Adaptive fuzzy controller was proposed. This controller utilizes a learning mechanism, which observes the plant outputs and adjusts the rules in a direct fuzzy controller, so that the overall system behaves like a "reference model" which characterizes the desired behavior. Result show the power of adptive fuzzy controller to balance the robot
  9. Keywords:
  10. Fuzzy Logic ; Inverted Pendulum ; Adaptive Fuzzy Control ; Fuzzy Controller ; Two-Wheeled Balancing Robot

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