Adaptive fuzzy balance controller for two-wheeled robot

摘要

An adaptive fuzzy sliding-mode balance controller (AFSMBC) for a two-wheeled robot is developed in this study. In the proposed balance controller, a novel sliding surface is adopted as the input variable of fuzzy system to outstanding its merit of insensitivity to uncertainties. In the fuzzy membership function, the translation width is utilized to reduce the chattering phenomena. Moreover, consider the parametric variation, external disturbance and nonlinear friction for the practical wheeled robot motions, the transient and unmodelled uncertainty will be occurred. An adaptive tuner, which is derived in the sense of Lyapunov stability theorem, is added into the fuzzy controller to reduce the accumulated error and to ascend the stability. The hardware of whole control system includes a microcontroller, gyroscope, accelerometer, and two autonomous motors. The effectiveness is verified by simulated and experimental results, and the performance is compared with conventional PD control scheme for the same wheeled robot.