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A Two-Wheeled Self-Balancing Robot with the Fuzzy PD Control Method
Joint Authors
Wu, Junfeng
Zhang, Wanying
Wang, Shengda
Source
Mathematical Problems in Engineering
Issue
Vol. 2012, Issue 2012 (31 Dec. 2012), pp.1-13, 13 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2012-11-26
Country of Publication
Egypt
No. of Pages
13
Main Subjects
Abstract EN
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.
American Psychological Association (APA)
Wu, Junfeng& Zhang, Wanying& Wang, Shengda. 2012. A Two-Wheeled Self-Balancing Robot with the Fuzzy PD Control Method. Mathematical Problems in Engineering،Vol. 2012, no. 2012, pp.1-13.
https://search.emarefa.net/detail/BIM-1001619
Modern Language Association (MLA)
Wu, Junfeng…[et al.]. A Two-Wheeled Self-Balancing Robot with the Fuzzy PD Control Method. Mathematical Problems in Engineering No. 2012 (2012), pp.1-13.
https://search.emarefa.net/detail/BIM-1001619
American Medical Association (AMA)
Wu, Junfeng& Zhang, Wanying& Wang, Shengda. A Two-Wheeled Self-Balancing Robot with the Fuzzy PD Control Method. Mathematical Problems in Engineering. 2012. Vol. 2012, no. 2012, pp.1-13.
https://search.emarefa.net/detail/BIM-1001619
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1001619