PSO-based fuzzy control of a self-balancing two-wheeled robot

Abstract

This paper studies the linear matrix inequality (LMI)-based fuzzy control of a self-balancing two-wheeled robot using particle swarm optimization (PSO). The Takagi-Sugeno (T-S) fuzzy dynamical model has been established for the equation of motion of self-balancing two-wheeled robot. The proposed novel LMI-based PSO algorithm not only stabilizes the self-balance control system of two-wheeled robot but also seeks the best control gains. Computer simulation illustrates the effectiveness of this PSO-based fuzzy control.