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Wheeled inverted pendulum control based on model-free fuzzy control strategy

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2 Author(s)
Chih Hui Chiu ; Dept. of Electr. Eng., Yuan-Ze Univ., Taoyuan, Taiwan ; Chun Chieh Chang

This paper proposes a model-free fuzzy controller (MFFC) for wheeled inverted pendulums (WIPs) control problem. The main purpose of this paper is to develop a self-dynamic balancing and motion control strategy. A simple necessary and sufficient condition for analytically determining the stability of a wheeled inverted pendulum system is established. Finally, experimental results show that the proposed model-free fuzzy control strategy can control the whole system very well.

Published in:
SICE Annual Conference 2010, Proceedings of

Date of Conference: 18-21 Aug. 2010

Page(s):
1604 - 1609
Print ISBN:
978-1-4244-7642-8
INSPEC Accession Number:
11595466
Conference Location :
Taipei

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