Balancing control of Two-Wheeled Upstanding Robot using adaptive fuzzy control method

A method based on direct adaptive fuzzy control was proposed according to upstanding-balancing control problem for Two-Wheeled Upstanding Robot. Different from the fuzzy control, it didn't need to design the fuzzy rules in the beginning. And there was not strict limit to the constant before input. Experiments showed that the constant could be positive and negative, and could be a function in an interval with the same sign. The control result was almost the same. The simulation showed that the method had a better control result of upstanding and balancing for the robot even though the initial angle was larger. In contrast to the traditional fuzzy control, the scheme improved the stability effectively, and it was implemented that the stable control process for the Two-Wheeled Upstanding Robot from almost recumbent state to upstanding and balancing state.