Velocity control of a two-wheeled inverted pendulum mobile robot: a fuzzy model-based approach

• Main Authors: Muhammad, M., Bature, A. A., Zangina, U., Buyamin, S., Ahmad, A., Shamsudin, M. A.
• Format: Article
• Language: English
• Published: Institute of Advanced Engineering and Science 2019
• Subjects: TK Electrical engineering. Electronics Nuclear engineering
• Online Access: http://eprints.utm.my/id/eprint/89606/1/SalindaBuyamin2019_VelocityControlofaTwoWheeled.pdf; http://eprints.utm.my/id/eprint/89606/; http://www.dx.doi.org/10.11591/eei.v8i3.1594

This paper presents the design of a fuzzy tracking controller for balancing and velocity control of a Two-Wheeled Inverted Pendulum (TWIP) mobile robot based on its Takagi-Sugino (T-S) fuzzy model, fuzzy Lyapunov function and non-parallel distributed compensation (non-PDC) control law. The T-S fuzzy...