• Journal of the Institute of Convergence Signal Processing
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• v.5 no.4
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• pp.301-307
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• 2004

This paper suggests a fuzzy variable structure control scheme for Takagi-Sugeno(T-S) fuzzy model and presents the attitude control of the wheel-driven inverted pendulum(WDIP) based on the proposed control algorithm. The proposed controller is designed based on the T-S fuzzy modeling of nonlinear system and the unification of gain matrices in linear subsystems that constitute the overall fuzzy model. The uncertainties generated in the gain matrix unifying procedure can be interpreted as the input disturbances of the conventional variable structure control. These unifying disturbances can be resolved by using the robustness property of the conventional variable structure system. Design example for wheel-driven inverted pendulum demonstrates the utility and validity of the proposed control scheme.

• Journal of the Korean Institute of Intelligent Systems
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• v.25 no.6
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• pp.578-584
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• 2015

In this study a moving platform for a mobile robot that can be traveling with a full automatic standing arm was developed. Conventional mobile robots generally may equip 4 wheels or 3 wheels with a caster wheel or independent driven wheels and have good statistic stability. When a mobile robot travels on a sharply perpendicular and narrow crossroad, it may need a special steering scheme such as going forward and backward repeatedly or it is sometimes physically impossible for the robot to go through the crossroad because of the size limit. The upright running mobile robot changes its posture to the upright posture which has a small planar area and is able to go through the crossroad. The upright control which was manually performed step by step before such as sequences of uprighting (returning), checking, and balancing, is now automated.