Model-based fuzzy control application to a self-balancing two-wheeled inverted pendulum

Wen June Wang, Cheng Hao Huang

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

5 Scopus citations

Abstract

This paper presents a fuzzy parallel distributed compensation (PDC) control design for balancing a two-wheeled inverted pendulum (TWIP). A Takagi-Sugeno (T-S) fuzzy model can be firstly constructed from the nonlinear system model of the TWIP. Based on the T-S fuzzy model, a PDC controller is designed with the aid of linear matrix inequality (LMI) concept. The stability of the fuzzy balance control can be guaranteed by solving the inequalities of LMI. Finally, one simulation and its equivalent experiment are given to demonstrate the effectiveness and feasibility of the control scheme.

Original languageEnglish
Title of host publication2009 IEEE International Conference on Control Applications, CCA '09
Pages1158-1163
Number of pages6
DOIs
StatePublished - 2009
Event2009 IEEE International Conference on Control Applications, CCA '09 - Saint Petersburg, Russian Federation
Duration: 8 Jul 200910 Jul 2009

Publication series

NameProceedings of the IEEE International Conference on Control Applications

Conference

Conference2009 IEEE International Conference on Control Applications, CCA '09
Country/TerritoryRussian Federation
CitySaint Petersburg
Period8/07/0910/07/09

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