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http://dx.doi.org/10.6109/jkiice.2012.16.2.228

Design of Fuzzy Controller for Two Wheeled Inverted Pendulum Robot Using Neural Network  

Jung, Gun-Oo (부산대학교 대학원 전자전기공학과)
An, Tae-Hee (부산대학교 대학원 전자전기공학과)
Choi, Young-Kiu (부산대학교 전자전기공학부)
Publication Information
Journal of the Korea Institute of Information and Communication Engineering / v.16, no.2, 2012 , pp. 228-236 More about this Journal
Abstract
In this paper, a controller for two wheeled inverted pendulum robot is designed to have more stable balancing capability than conventional controller. Fuzzy control structure is chosen for the two wheeled inverted pendulum robot, and fuzzy membership function factors for the controller are obtained for specified 3 users' weights using trial-and-error method. Next a neural network is employed to generate fuzzy membership function factors for more stable control performance when the user's weight is arbitrarily selected. Through the simulation study we find that the designed fuzzy controller using the neural network is superior to the conventional fuzzy controller.
Keywords
two wheeled inverted pendulum robot; fuzzy controller; balancing control; neural network;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
연도 인용수 순위
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