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1、IEEETRANSACTIONSONINDUSTRIALELECTRONICS,VOL.60,NO.12,DECEMBER20135717DesignandImplementationofaTakagiSugeno-TypeFuzzyLogicControlleronaTwo-WheeledMobileRobotJian-XinXu,Fellow,IEEE,Zhao-QinGuo,andTongHengLeeAbstractThispaperpresentsanovelimplementationoftwo-wheeledSEGWAYisapopular
2、personaltransporter.ForaTakagiSugeno-typefuzzylogiccontroller(FLC)onaresearchandeducationpurposes,prototypesandproductsoftwo-wheeledmobilerobot(2WMR),whichconsistsoftwowheelstwo-wheeledmobilevehiclesorrobotshavebeendesignedininparallelandaninversependulum.Thecontrolobjectiveofthe
3、universitiesandresearchinstitutes[3][11].The2WMRusu-2WMRistoachievepositioncontrolofthewheelswhilekeepingthependulumaroundtheuprightpositionthatisanunstableallyconsistsoftwowheelsinparallelandaninversependulum.equilibrium.Thenoveltiesofthisworklieinthreeaspects.First,Thecontrolob
4、jectiveofthe2WMRistoperformpositionortheFLCisasynthesizeddesignwhichutilizesbothheuristicvelocitycontrolofthewheelswhilestabilizingthependulumknowledgeandmodelinformationofthe2WMRsystem.ThearoundtheuprightpositionthatisanunstableequilibriumFLCstructure,includingthefuzzylabels,mem
5、bershipfunctions,point.Thistypeofsystemsthathavenumbersofactuatorsandinference,ischosenbasedonheuristicknowledgeaboutthe2WMR.TheoutputparametersoftheFLCaredeterminedbyfewerthanthedegreesoffreedomtobecontrolledisde?nedcomparingtheoutputoftheFLCwiththatofalinearcontrollerasunderact
6、uatedsystems.atcertainoperatingpoints,whichavoidsthedif?cultyandtedious-Duetothedifferenceinmechanicalcon?guration,under-nessinmanualtuning.Thelinearcontrollerisdesignedbasedonactuated2WMRscanbeclassi?edintoaclasswithoutinputalinearizedmodelofthe2WMRsystem.Second,theproposedcoupl
7、ingwheretheactuatorismountedonthewheel(classA)FLCisasimpleandrealizabledesignforrealimplementation.Onlytwofuzzylabelsareadoptedforeachfuzzyvariable.Sixteenandaclasswithinputcouplingwheretheactuatorismountedfuzzyrulesareusedwitheightoutputparametersandfourrangeonthependulumorchass
8、is(classB).ClassAismorecomplexparameters
