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http://dx.doi.org/10.6109/jkiice.2013.17.1.8

Implementation of a Fuzzy Control System for Two-Wheeled Inverted Pendulum Robot based on Artificial Neural Network  

Jeong, Geon-Wu (부산대학교 대학원 전자전기공학과)
Choi, Young-Kiu (부산대학교 전자전기공학부)
Publication Information
Journal of the Korea Institute of Information and Communication Engineering / v.17, no.1, 2013 , pp. 8-14 More about this Journal
Abstract
In this paper, a control system for two wheeled inverted pendulum robot is implemented to have more stable balancing capability than the conventional control system. Fuzzy control structure is chosen for the two wheeled inverted pendulum robot, and fuzzy membership function factors for the control system are obtained for 3 specified weights using a trial-and-error method. Next a neural network is employed to generate fuzzy membership function factors for more stable control performance when the weight is arbitrarily selected. Through some experiments, we find that the proposed fuzzy control system using the neural network is superior to the conventional fuzzy control system.
Keywords
two wheeled inverted pendulum robot; fuzzy control system; balancing control; neural network;
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