Soft-Computing-Based Real-Time Control of Two Wheel Mobile Robot (TWMR)

Abstract

This chapter considers various soft-computing techniques for control of self-balancing two wheel mobile robot (TWMR). Initially, a mathematical model of the system was developed using Newton's second law. Thereafter, a simulink of the proposed system was developed in Matlab Simulink environment. Two different controllers, namely fuzzy logic controller and ANFIS controller, were used for control of proposed system. Finally, a real-time model of TWMR was designed which was controlled using Arduino Uno microcontroller, and its results were used for training of ANFIS controller.