The fuzzy controller designing of the self-balancing robot

Abstract

Referring to unsteady, nonlinear, and strong coupling of the self-balancing robot, This paper using Newtonian mechanics to build the steering movements of mathematical models which contain Fuzzy controller and Fuzzy control methods to control the self-balancing robot. At last, using Matlab to simulate the angle of swing link, angular velocity of swing link, velocity and displacement, the result of the simulation suggested that system has good balance and robustness, has advantage in immunity and adjusting the time.