Adaptive Fuzzy Control of Two-Wheeled Balancing Vehicle

This paper proposes an adaptive fuzzy controller to balance a constructed two-wheeled vehicle at upright position. The dynamical model of the vehicle-LEGO Mind storms NXT is first established. Based on the model developed, an adaptive fuzzy controller is then illustrated. Adaptation laws are derived from the Lyapunov stability analysis, so that the system tracking performance and the error convergence can be assured in the closed-loop control system. Finally, we apply the PD (Proportional Derivative) controller and the proposed controller to balance the two-wheeled vehicle to compare the system performance.