Adaptive fuzzy control of two-wheeled balancing vehicle

Jen Yang Chen, Chuan Hsi Liu, Chien Chun Chen, Kuei Chih Lin

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper proposes an adaptive fuzzy controller to balance a constructed two-wheeled vehicle at upright position. The dynamical model of the vehicle-LEGO Mind storms NXT is first established. Based on the model developed, an adaptive fuzzy controller is then illustrated. Adaptation laws are derived from the Lyapunov stability analysis, so that the system tracking performance and the error convergence can be assured in the closed-loop control system. Finally, we apply the PD (Proportional Derivative) controller and the proposed controller to balance the two-wheeled vehicle to compare the system performance.

Original languageEnglish
Title of host publicationProceedings - 2011 International Conference on Instrumentation, Measurement, Computer, Communication and Control, IMCCC 2011
Pages341-344
Number of pages4
DOIs
Publication statusPublished - 2011 Dec 1
Event1st International Conference on Instrumentation and Measurement, Computer, Communication and Control, IMCCC2011 - Beijing, China
Duration: 2011 Oct 212011 Oct 23

Publication series

NameProceedings - 2011 International Conference on Instrumentation, Measurement, Computer, Communication and Control, IMCCC 2011

Other

Other1st International Conference on Instrumentation and Measurement, Computer, Communication and Control, IMCCC2011
CountryChina
CityBeijing
Period11/10/2111/10/23

Keywords

  • Adaptive fuzzy control
  • Fuzzy control
  • LEGO Mindstorms NXT
  • PD control
  • Two-wheeled balancing vehicle

ASJC Scopus subject areas

  • Computer Networks and Communications
  • Control and Systems Engineering

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  • Cite this

    Chen, J. Y., Liu, C. H., Chen, C. C., & Lin, K. C. (2011). Adaptive fuzzy control of two-wheeled balancing vehicle. In Proceedings - 2011 International Conference on Instrumentation, Measurement, Computer, Communication and Control, IMCCC 2011 (pp. 341-344). [6154070] (Proceedings - 2011 International Conference on Instrumentation, Measurement, Computer, Communication and Control, IMCCC 2011). https://doi.org/10.1109/IMCCC.2011.92