Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Neuro-fuzzy Control for Balancing a Two-wheel Mobile Robot

이륜구동 이동로봇의 균형을 위한 뉴로 퍼지 제어

  • Park, Young Jun (Department of Mechatronics Engineering, Chungnam National University) ;
  • Jung, Seul (Department of Mechatronics Engineering, Chungnam National University)
  • 박영준 (충남대학교 메카트로닉스공학과) ;
  • 정슬 (충남대학교 메카트로닉스공학과)
  • Received : 2015.06.08
  • Accepted : 2015.12.16
  • Published : 2016.01.01
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Abstract

This paper presents the neuro-fuzzy control method for balancing a two-wheel mobile robot. A two-wheel mobile robot is built for the experimental studies. On-line learning algorithm based on the back-propagation(BP) method is derived for the Takagi-Sugeno(T-S) neuro-fuzzy controller. The modified error is proposed to learn the B-P algorithm for the balancing control of a two-wheel mobile robot. The T-S controller is implemented on a DSP chip. Experimental studies of the balancing control performance are conducted. Balancing control performances with disturbance are also conducted and results are evaluated.

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References

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