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Fuzzy logic controller for two wheeled EV3 LEGO robot | IEEE Conference Publication | IEEE Xplore

Fuzzy logic controller for two wheeled EV3 LEGO robot


Abstract:

The unstable nature of a two-wheeled inverted pendulum system has raised attention many researchers to approach various controllers that can stabilize the system. Most re...Show More

Abstract:

The unstable nature of a two-wheeled inverted pendulum system has raised attention many researchers to approach various controllers that can stabilize the system. Most researchers used Arduino and NXT LEGO robot as a platform to analyze the performance of the proposed controller. In this project, fuzzy logic controller is used as a controller to stabilize the two wheeled EV3 LEGO robot through Simulink-Matlab simulation. The dynamic modelling of the system is derived using Euler-Lagrange method. Based on the proposed controller, the analysis of the simulation results show that the system achieves zero degree of tilt angle in less than 2 seconds. Various membership function of Fuzzy Logic control are tested and analyzed. The simulation results indicate that fuzzy logic controller can stabilize the two wheeled EV3 LEGO robot effectively.
Date of Conference: 15-17 December 2017
Date Added to IEEE Xplore: 12 March 2018
ISBN Information:
Conference Location: Meleka, Malaysia

References

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