Fuzzy logic controller for two wheeled EV3 LEGO robot

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.

I. Introduction

Inverted pendulum system has attracted researches due to the uniqueness of the system which is the unstable nature of the system and the need to stabilize it. There are many papers for this project that have been studied can be found to use as references. L.A. Zadeh was the first person to establish fuzzy sets in 1965. Since then, many researches have been done led to rapid developments in fuzzy set theory and its applications. The first know successful application of fuzzy set theory in control field was found by E.H. Mamdani in 1974. Nowadays, fuzzy logic controller can be applied in many systems such as washing machines, air conditioners and robot.