Adaptive fuzzy control of two-wheeled balancing vehicle

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

*此作品的通信作者

研究成果: 書貢獻/報告類型會議論文篇章

摘要

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.

原文英語
主出版物標題Proceedings - 2011 International Conference on Instrumentation, Measurement, Computer, Communication and Control, IMCCC 2011
頁面341-344
頁數4
DOIs
出版狀態已發佈 - 2011
事件1st International Conference on Instrumentation and Measurement, Computer, Communication and Control, IMCCC2011 - Beijing, 中国
持續時間: 2011 十月 212011 十月 23

出版系列

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

其他

其他1st International Conference on Instrumentation and Measurement, Computer, Communication and Control, IMCCC2011
國家/地區中国
城市Beijing
期間2011/10/212011/10/23

ASJC Scopus subject areas

  • 電腦網路與通信
  • 控制與系統工程

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