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Design and real-time implementation of a fuzzy logic control system for a two-wheeled robot

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4 Author(s)
Sayidmarie, O.K. ; Dept. of Autom. Control & Syst. Eng., Univ. of Sheffield, Sheffield, UK ; Tokhi, M.O. ; Almeshal, A.M. ; Agouri, S.A.

In this paper, fuzzy logic controller is designed for balancing a two-wheeled inverted pendulum robot prototype considering the tilt angle as feedback. Tilt angle sensing error is reduced by adopting a sensor fusion technique. The controller is implemented on an AVR 8-bit microcontroller. The Fuzzy rules are coded and stored in the microcontroller memory. The experimental results show that the robot has the ability to balance during its movement.

Published in:

Methods and Models in Automation and Robotics (MMAR), 2012 17th International Conference on

Date of Conference:

27-30 Aug. 2012