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

Civil Engineering

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