Intelligent control in two-wheel self-balanced robot

Abstract

To balance the two-wheel self-balanced robot, it is essential that the system is able to quickly rectify after it deviates from the balance. This paper proposes to combine fuzzy control and traditional PID control which in turn minimizes the impact of disturbance. Fuzzy control is independent on the mathematical model of the controlled system, and it is applicable to non-linear system as well. It minimizes the impact of disturbance and parameter variation, and improves the effectiveness of the control system. It is tested by experiment and simulation that fuzzy PID controller is fast and robust.