Application of fuzzy control for self-balancing two-wheel vehicle

Abstract

In this paper, we present our developing research that is a low-cost self-balancing two-wheel vehicle where we mainly focus on design of the sensing and control board and the balanced controller. With the considerations of economy, we integrate the sensory systems and the balancing control systems by utilizing an embedded system based on the SUNPLUSTM SPCE061A EMU board and a CPLD, Altera EPM7128SLC84. There are three points for our design. First, since the system is unstable in nature, it can be used as a teaching aid in the control-related courses to demonstrate the design of various control schemes with fuzzy controller. Second, motion with the self-balancing capability is novel and interesting and has potential to be a toy. In addition, this trial can provide a prototype to verify the techniques and allow the possibility for carry one person development of a commercial two-wheel vehicle in the future.