Balance control of two-wheeled self-balancing mobile robot based on TS fuzzy model

摘要

Two-wheeled self-balancing robot is a mechanically unstable, nonholonomic constraint robot. This paper has established a dynamics and kinematics for nonholonomic mobile robot. In order to control more effective for self-balancing robot's balance model, has designed fuzzy controller based on the T-S fuzzy model with the parallel distribution compensator (PDC) the structure. It realizes the robot balance and the movement control. Finally, validity and feasibility of the system modeling and the designed controller were confirmed through the actual test results and the simulation results contrast analysis.