Adaptive Fuzzy Cerebellar Model Articulation Controller for two-wheeled robot

Jen Yang Chen, Kuei Chih Lin, Pu Sheng Tsai, Chuan-Hsi Liu, Jing Ming Ouyang

Research output: Contribution to journalConference article

Abstract

In this paper, an adaptive Fuzzy Cerebellar Model Articulation Controller (FCMAC) is proposed to control two-wheeled robot at upright position. The dynamical model of the robot, LEGO Mindstorms NXT, is derived from Lagrange of kinetic and potential energies. Based on the developed model, an adaptive FCMAC is then designed. Adaptation laws are derived from the Lyapunov stability analysis. According to the stability analysis, the developed FCMAC guarantees that the system tracking performance and the error convergence can be assured in the closed-loop system. Finally, to compare the system performances we apply the proposed FCMAC and the PID (Proportional Integral Derivative) controller to balance the two-wheeled robot.

Original languageEnglish
Pages (from-to)1025-1036
Number of pages12
JournalAdvanced Materials Research
Volume482-484
DOIs
Publication statusPublished - 2012 Apr 4
Event3rd international Conference on Manufacturing Science and Engineering, ICMSE 2012 - Xiamen, China
Duration: 2012 Mar 272012 Mar 29

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Robots
Controllers
Potential energy
Closed loop systems
Kinetic energy
Derivatives

Keywords

  • FCMAC
  • LEGO mindstorms NXT
  • PID control
  • Two-wheeled robot

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Adaptive Fuzzy Cerebellar Model Articulation Controller for two-wheeled robot. / Chen, Jen Yang; Lin, Kuei Chih; Tsai, Pu Sheng; Liu, Chuan-Hsi; Ouyang, Jing Ming.

In: Advanced Materials Research, Vol. 482-484, 04.04.2012, p. 1025-1036.

Research output: Contribution to journalConference article

Chen, Jen Yang ; Lin, Kuei Chih ; Tsai, Pu Sheng ; Liu, Chuan-Hsi ; Ouyang, Jing Ming. / Adaptive Fuzzy Cerebellar Model Articulation Controller for two-wheeled robot. In: Advanced Materials Research. 2012 ; Vol. 482-484. pp. 1025-1036.
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