Velocity control of a two-wheeled inverted pendulum mobile robot: a fuzzy model-based approach

descriptionPublicationkeyboard_double_arrow_right Article 01 Sep 2019 Malaysia Publisher:Institute of Advanced Engineering and ScienceJournal:Bulletin of Electrical Engineering and Informatics, volume 8, pages 808-817 (issn: 2089-3191, eissn: 2302-9285,

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Authors: Muhammad, M.; Bature, A. A.; Zangina, U.; Buyamin, S.; Ahmad, A.; Shamsudin, M. A.;

doi: 10.11591/eei.v8i3.1594

Velocity control of a two-wheeled inverted pendulum mobile robot: a fuzzy model-based approach

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Abstract

This paper presents the design of a fuzzy tracking controller for balancing and velocity control of a Two-Wheeled Inverted Pendulum (TWIP) mobile robot based on its Takagi-Sugino (T-S) fuzzy model, fuzzy Lyapunov function and non-parallel distributed compensation (non-PDC) control law. The T-S fuzzy model of the TWIP mobile robot was developed from its nonlinear dynamical equations of motion. Stabilization conditions in a form of linear matrix inequalities (LMIs) were derived based on the T-S fuzzy model of the TWIP mobile robot, a fuzzy Lyapunov function and a non-PDC control law. Based on the derived stabilization conditions and the T-S fuzzy model of the TWIP mobile robot, a state feedback velocity tracking controller was then proposed for the TWIP mobile robot. The balancing and velocity tracking performance of the proposed controller was investigated via simulations. The simulation result shows the effectiveness of the proposed control scheme.

Country

Malaysia

Related Organizations

Bayero University Kano
Nigeria
UNIVERSITI TEKNOLOGI MARA (UTM)
Malaysia

Keywords

629, Mobile robot, Linear matrix inequality (LMI), TWIP, T-S fuzzy model, Fuzzy Lyapunov function, TK Electrical engineering. Electronics Nuclear engineering

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