利用模糊逻辑对两轮倒立摆机器人进行控制

2015 IEEE International Conference on Computational Intelligence and Computing Research (ICCIC) Pub Date : 2015-12-01 DOI:10.1109/ICCIC.2015.7435680

Ashwani Kharola

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引用次数: 5

摘要

本文提出了一种用于TWIPR控制和镇定的模糊逻辑控制策略。研究中考虑的TWIPR包括安装在两个可移动车轮上的机器人底盘。研究目标是在期望的时间、超调量和稳态误差范围内稳定系统。利用牛顿第二运动定律推导出的数学方程，建立了系统的Matlab Simulink模型。本文将Gbell MF用于TWIPR模糊控制器的设计。仿真结果证明了该方法的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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The control of two-wheeled inverted pendulum robot (TWIPR) using fuzzy logic

This paper presents a fuzzy logic control strategy for control and stabilization of TWIPR. The TWIPR considered in the study comprises of a robot chassis mounted on two movable wheels. The research objective is to stabilize the system within desired time, overshoot and steady state error. The Matlab Simulink model of the system was built using mathematical equations derived from Newton's second law of motion. Gbell MF's has been used for designing of fuzzy logic controllers (FLC's) for TWIPR. The simulation results proved the validity of the proposed technique.

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2015 IEEE International Conference on Computational Intelligence and Computing Research (ICCIC)

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