Fuzzy-tuned PI controller for plate balancing on a mobile vehicle system

This paper presents a novel implementation of a fuzzy-tuned PI controller for plate balancing on a mobile vehicle platform. The proportional close loop gain and integral time constant are continuously tuned by fuzzy logic algorithm according to vehicle's behavior as it moves along unstructured planar trajectory. The experimental results show a performance comparison to conventional PI controller and prove that the proposed method can achieve better performance than conventional PI controller in terms of faster settling time and smaller steady state error.