Fuzzy control for balancing of a two-wheel transportation robotic vehicle: Experimental studies

Abstract

This paper presents an experimental study of fuzzy control application to balance a two-wheel transportation vehicle for a commuter. A two-wheel transportation vehicle is controlled to convey a driver in the urban environment. The vehicle has two driving modes, a mobile robot mode with 4 contact points and a balancing robot mode with two contact points on the ground. Nominal fuzzy rules are applied to control the balance of the two-wheel vehicle. Experimental studies of balancing the two-wheel vehicle are demonstrated.