Velocity control of a two-wheeled inverted pendulum mobile robot: a fuzzy model-based approach
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...
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my.utm.896062021-02-09T05:01:32Z http://eprints.utm.my/id/eprint/89606/ Velocity control of a two-wheeled inverted pendulum mobile robot: a fuzzy model-based approach Muhammad, M. Bature, A. A. Zangina, U. Buyamin, S. Ahmad, A. Shamsudin, M. A. TK Electrical engineering. Electronics Nuclear engineering 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 model of the TWIP mobile robot was developed from its nonlinear dynamical equations of motion. Stabilization conditions in a form of linear matrix inequalities (LMIs) were derived based on the T-S fuzzy model of the TWIP mobile robot, a fuzzy Lyapunov function and a non-PDC control law. Based on the derived stabilization conditions and the T-S fuzzy model of the TWIP mobile robot, a state feedback velocity tracking controller was then proposed for the TWIP mobile robot. The balancing and velocity tracking performance of the proposed controller was investigated via simulations. The simulation result shows the effectiveness of the proposed control scheme. Institute of Advanced Engineering and Science 2019-09 Article PeerReviewed application/pdf en http://eprints.utm.my/id/eprint/89606/1/SalindaBuyamin2019_VelocityControlofaTwoWheeled.pdf Muhammad, M. and Bature, A. A. and Zangina, U. and Buyamin, S. and Ahmad, A. and Shamsudin, M. A. (2019) Velocity control of a two-wheeled inverted pendulum mobile robot: a fuzzy model-based approach. Bulletin of Electrical Engineering and Informatics, 8 (3). pp. 808-817. ISSN 2089-3191 http://www.dx.doi.org/10.11591/eei.v8i3.1594 DOI: 10.11591/eei.v8i3.1594 |
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TK Electrical engineering. Electronics Nuclear engineering Muhammad, M. Bature, A. A. Zangina, U. Buyamin, S. Ahmad, A. Shamsudin, M. A. Velocity control of a two-wheeled inverted pendulum mobile robot: a fuzzy model-based approach |
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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 model of the TWIP mobile robot was developed from its nonlinear dynamical equations of motion. Stabilization conditions in a form of linear matrix inequalities (LMIs) were derived based on the T-S fuzzy model of the TWIP mobile robot, a fuzzy Lyapunov function and a non-PDC control law. Based on the derived stabilization conditions and the T-S fuzzy model of the TWIP mobile robot, a state feedback velocity tracking controller was then proposed for the TWIP mobile robot. The balancing and velocity tracking performance of the proposed controller was investigated via simulations. The simulation result shows the effectiveness of the proposed control scheme. |
format |
Article |
author |
Muhammad, M. Bature, A. A. Zangina, U. Buyamin, S. Ahmad, A. Shamsudin, M. A. |
author_facet |
Muhammad, M. Bature, A. A. Zangina, U. Buyamin, S. Ahmad, A. Shamsudin, M. A. |
author_sort |
Muhammad, M. |
title |
Velocity control of a two-wheeled inverted pendulum mobile robot: a fuzzy model-based approach |
title_short |
Velocity control of a two-wheeled inverted pendulum mobile robot: a fuzzy model-based approach |
title_full |
Velocity control of a two-wheeled inverted pendulum mobile robot: a fuzzy model-based approach |
title_fullStr |
Velocity control of a two-wheeled inverted pendulum mobile robot: a fuzzy model-based approach |
title_full_unstemmed |
Velocity control of a two-wheeled inverted pendulum mobile robot: a fuzzy model-based approach |
title_sort |
velocity control of a two-wheeled inverted pendulum mobile robot: a fuzzy model-based approach |
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Institute of Advanced Engineering and Science |
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2019 |
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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 |
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