CONVENTIONAL FUZZY LOGIC CONTROLLER FOR BALANCING TWO-WHEEL INVERTED PENDULUM

Author

Electrical Engineering Dept., Faculty of Engineering, Minia University

Abstract

This paper presents the design and the Real-Time implementation of self-balancing Two-Wheeled Inverted Pendulum (TWIP) using state-feedback controller and a conventional fuzzy logic controller (CFLC) on Real-Time. The state-feedback controller consists of two parts PD controller and PI controller. The state-feedback controller was designed first for the nonlinear model then it was updated for the Real-Time implementation. The CFLC was designed first based on the state-feedback controller to reach the point of using pure fuzzy controller for the TWIP. The CFLC was designed with Mamdani fuzzy inference architecture if-then rules. The TWIP is balanced with CFLC with a base of 7 rules only. Different controller’s types were tested on real-Time to perform a good balance for the TWIP. Fuzzy PI, Fuzzy PD, and combination of two independent CFLC were used to achieve the balancing of the TWIP on Real-Time.

Keywords

Main Subjects

References

[1]  H. Cheng-Hao, W.-J. Wang, and C. Chih-Hui, "Design and Implementation of Fuzzy Control on a Two-Wheel Inverted Pendulum," IEEE Transactions o Industrial Electronics, vol. 58,no. 7 pp. 2988-3001, July  2011.
[2]  A. N. K. Nasir, M. A. Ahmad, R. Ghazali, and N. S. Pakheri, "Performance Comparison between Fuzzy Logic Controller (FLC) and PID Controller for a Highly Nonlinear Two-Wheels Balancing Robot," IEEE Conference on Informatics and Computational Intelligence (ICI), pp. 176-181, December  2011.
[3]  M. A. Akmal, N. F. Jamin, and N. M. Abdul Ghani, "Fuzzy logic controller for two wheeled EV3 LEGO robot," IEEE Conference on Systems, Process and Control (ICSPC), pp. 134-139, December 2017.
[4]  J. Xu, Z.-Q. Guo, and T. H. Lee, "Design and Implementation of a Takagi Sugeno-Type Fuzzy Logic Controller on a Two-Wheeled Mobile Robot, " IEEE Transactions o Industrial Electronics, vol. 60, no. 12, pp. 5717–5728, 2013.
[5]  J. Wu and W. Zhang, "Design of fuzzy logic controller for two-wheeled self-balancing robot," IEEE Conference on Strategic Technology, pp. 1266–1270, August 2011.
[6]  Q. Yong, L. Yanlong, Z. Xizhe, and L. Ji, "Balance control of two-wheeled self-balancing mobile robot based on TS fuzzy model," IEEE Conference on Strategic Technology, pp. 406–409, August 2011.
[7]  C.-H. Chiu, C.-C. Chang, "Design and Development of Mamdani-Like Fuzzy Control Algorithm for a Wheeled Human-Conveyance Vehicle Control, " IEEE Transactions o Industrial
 
[8]  Electronics, vol. 59, no. 12, pp. 1814-1822, December 2012.
[9]  W. Qingcheng and F. Jian, "Fuzzy Immune PD Algorithm Applied in the Self-Balancing Two-Wheeled Robot," IEEE Conference on Future Generation Communication and Networking, pp. 112–115, December 2014.
[10]      R. Sadeghian and M. Tale Masoule, "An experimental study on the PID and Fuzzy-PID controllers on a designed two-wheeled self-balancing autonomous robot," IEEE Conference on Control, Instrumentation, and Automation (ICCIA), pp. 313–318, January 2016.
[11]      J. Huang, M-H. Ri, D. Wu, and S-H. Ri, "Interval Type-2 Fuzzy Logic Modeling and Control of a Mobile Two-Wheeled Inverted Pendulum," IEEE Transactions on Fuzzy Systems, October 2017.
[12]      O. K. Sayidmarie, M. O. Tokhi, A. M. Almeshal, and S. A. Agouri, "Design and real-time implementation of a fuzzy logic control system for a two-wheeled robot," IEEE Conference on Methods & Models in Automation & Robotics (MMAR), pp. 569–572, August 2012.
[13]      Q. Hao, P. Li, Y- Z. Chang, and F. Yang, "The fuzzy controller designing of the self-balancing robot," IEEE Conference on Electronics and Optoelectronics, pp. 16–19, July 2011.
[14]      Ooi R. Chi, “Balancing a Two‐Wheeled Autonomous Robot”, University of Western Australia, School of Mechanical Engineering, Final Thesis 2003.
[15]      S. Omatu; T. Ide, "Stabilization of inverted pendulum by neuro-control," IEEE Conference on Computational Intelligence, pp 2367-2372,June 1994.

Files

Share

How to cite

Statistics