Adaptive fuzzy logic control of dynamic balance and motion for wheeled inverted pendulums

Authors:
Zhijun Li;Chunquan Xu
Affiliations:
Department of Automation, Shanghai Jiao Tong University, Shanghai 200240, China;Department of Mechanical Engineering and Intelligent Systems, The University of Electro-Communications, Chofushi, Tokyo 182-8585, Japan
Venue:
Fuzzy Sets and Systems
Year:
2009

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Abstract

In this paper, adaptive fuzzy logic control of dynamic balance and motion is investigated for wheeled inverted pendulums with parametric and functional uncertainties. The proposed adaptive fuzzy logic control based on physical properties of wheeled inverted pendulums makes use of a fuzzy logic engine and a systematic online adaptation mechanism to approximate the unknown dynamics. Based on Lyapunov synthesis, the fuzzy control ensures that the system outputs track the given bounded reference signals to within a small neighborhood of zero, and guarantees semi-global uniform boundedness of all closed-loop signals. The effectiveness of the proposed control is verified through extensive simulations.