Fuzzy control of a two-wheeled mobile pendulum system

Ákos Odry, Ervin Burkus, István Kecskés, János Fodor, Péter Odry

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

5 Citations (Scopus)

Abstract

In this paper, the fuzzy control of a mechatronic system will be studied. The mechatronic system is a special mobile robot (called two-wheeled mobile pendulum) that has two contact points with the supporting surface and its center of mass is located under the wheel axis. Due to the mechanical structure, the inner body (which acts as a pendulum between the wheels) tends to oscillate during the translational motion of the robot, thus the application of complex control solutions is essential in order to stabilize the dynamical system. In the first part of the paper the mechatronic system and the corresponding mathematical model are introduced, while in the second part the design and implementation of different fuzzy controllers are elaborated for the plant. The achieved control performances are analyzed based on simulation and implementation results.

Original languageEnglish
Title of host publicationSACI 2016 - 11th IEEE International Symposium on Applied Computational Intelligence and Informatics, Proceedings
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages99-104
Number of pages6
ISBN (Electronic)9781509023790
DOIs
Publication statusPublished - Jul 7 2016
Event11th IEEE International Symposium on Applied Computational Intelligence and Informatics, SACI 2016 - Timisoara, Romania
Duration: May 12 2016May 14 2016

Publication series

NameSACI 2016 - 11th IEEE International Symposium on Applied Computational Intelligence and Informatics, Proceedings

Conference

Conference11th IEEE International Symposium on Applied Computational Intelligence and Informatics, SACI 2016
CountryRomania
CityTimisoara
Period5/12/165/14/16

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Science Applications
  • Control and Systems Engineering
  • Control and Optimization
  • Health Informatics

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  • Cite this

    Odry, Á., Burkus, E., Kecskés, I., Fodor, J., & Odry, P. (2016). Fuzzy control of a two-wheeled mobile pendulum system. In SACI 2016 - 11th IEEE International Symposium on Applied Computational Intelligence and Informatics, Proceedings (pp. 99-104). [7507348] (SACI 2016 - 11th IEEE International Symposium on Applied Computational Intelligence and Informatics, Proceedings). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SACI.2016.7507348