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

doi:10.4028/www.scientific.net/AMR.482-484.1025

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

^*Corresponding author for this work

Department of Mechatronic Engineering

Research output: Contribution to journal › Conference article › peer-review

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 language	English
Pages (from-to)	1025-1036
Number of pages	12
Journal	Advanced Materials Research
Volume	482-484
DOIs	https://doi.org/10.4028/www.scientific.net/AMR.482-484.1025
Publication status	Published - 2012
Event	3rd international Conference on Manufacturing Science and Engineering, ICMSE 2012 - Xiamen, China Duration: 2012 Mar 27 → 2012 Mar 29

Keywords

FCMAC
LEGO mindstorms NXT
PID control
Two-wheeled robot

ASJC Scopus subject areas

General Engineering

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10.4028/www.scientific.net/AMR.482-484.1025

Cite this

@article{288568fdffae44aaa6a2701a10aef6b4,

title = "Adaptive Fuzzy Cerebellar Model Articulation Controller for two-wheeled robot",

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.",

keywords = "FCMAC, LEGO mindstorms NXT, PID control, Two-wheeled robot",

author = "Chen, {Jen Yang} and Lin, {Kuei Chih} and Tsai, {Pu Sheng} and Liu, {Chuan Hsi} and Ouyang, {Jing Ming}",

year = "2012",

doi = "10.4028/www.scientific.net/AMR.482-484.1025",

language = "English",

volume = "482-484",

pages = "1025--1036",

journal = "Advanced Materials Research",

issn = "1022-6680",

publisher = "Trans Tech Publications",

note = "3rd international Conference on Manufacturing Science and Engineering, ICMSE 2012 ; Conference date: 27-03-2012 Through 29-03-2012",

}

TY - JOUR

T1 - Adaptive Fuzzy Cerebellar Model Articulation Controller for two-wheeled robot

AU - Chen, Jen Yang

AU - Lin, Kuei Chih

AU - Tsai, Pu Sheng

AU - Liu, Chuan Hsi

AU - Ouyang, Jing Ming

PY - 2012

Y1 - 2012

N2 - 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.

AB - 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.

KW - FCMAC

KW - LEGO mindstorms NXT

KW - PID control

KW - Two-wheeled robot

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DO - 10.4028/www.scientific.net/AMR.482-484.1025

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AN - SCOPUS:84859167137

SN - 1022-6680

VL - 482-484

SP - 1025

EP - 1036

JO - Advanced Materials Research

JF - Advanced Materials Research

T2 - 3rd international Conference on Manufacturing Science and Engineering, ICMSE 2012

Y2 - 27 March 2012 through 29 March 2012

ER -

Adaptive Fuzzy Cerebellar Model Articulation Controller for two-wheeled robot

Abstract

Keywords

ASJC Scopus subject areas

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