Adaptive fuzzy logic control of dynamic balance and motion for wheeled inverted pendulums

In this paper, adaptive fuzzy logic control of dynamic balance and motion is investigated for wheeled inverted pendulums with parametric and functional uncertainties. The proposed adaptive fuzzy logic control based on physical properties of wheeled inverted pendulums makes use of a fuzzy logic engin...

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Bibliographic Details
Published in:Fuzzy sets and systems 2009-06, Vol.160 (12), p.1787-1803
Main Authors: Li, Zhijun, Xu, Chunquan
Format: Article
Language:English
Subjects:
Applied sciences
Circuit properties
Computer science
control theory
systems
Control theory. Systems
Digital circuits
Electric, optical and optoelectronic circuits
Electronic circuits
Electronics
Exact sciences and technology
Fuzzy logic control
Information, signal and communications theory
Mathematical methods
Miscellaneous
System theory
Telecommunications and information theory
Theoretical computing
Wheeled inverted pendulum
Zero dynamics
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Summary:In this paper, adaptive fuzzy logic control of dynamic balance and motion is investigated for wheeled inverted pendulums with parametric and functional uncertainties. The proposed adaptive fuzzy logic control based on physical properties of wheeled inverted pendulums makes use of a fuzzy logic engine and a systematic online adaptation mechanism to approximate the unknown dynamics. Based on Lyapunov synthesis, the fuzzy control ensures that the system outputs track the given bounded reference signals to within a small neighborhood of zero, and guarantees semi-global uniform boundedness of all closed-loop signals. The effectiveness of the proposed control is verified through extensive simulations.
ISSN:0165-0114
1872-6801
DOI:10.1016/j.fss.2008.09.013