CONVENTIONAL FUZZY LOGIC CONTROLLER FOR BALANCING TWO-WHEEL INVERTED PENDULUM | ||||
| Journal of Advanced Engineering Trends | ||||
| Article 7, Volume 38, Issue 2, July 2019, Page 107-119 PDF (1.13 MB) | ||||
| DOI: 10.21608/jaet.2020.73045 | ||||
 View on SCiNiTO | ||||
| Author | ||||
Doaa M. Abd-elaziz 
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| Electrical Engineering Dept., Faculty of Engineering, Minia University | ||||
| Abstract | ||||
| This paper presents the design and the Real-Time implementation of self-balancing Two-Wheeled Inverted Pendulum (TWIP) using state-feedback controller and a conventional fuzzy logic controller (CFLC) on Real-Time. The state-feedback controller consists of two parts PD controller and PI controller. The state-feedback controller was designed first for the nonlinear model then it was updated for the Real-Time implementation. The CFLC was designed first based on the state-feedback controller to reach the point of using pure fuzzy controller for the TWIP. The CFLC was designed with Mamdani fuzzy inference architecture if-then rules. The TWIP is balanced with CFLC with a base of 7 rules only. Different controller’s types were tested on real-Time to perform a good balance for the TWIP. Fuzzy PI, Fuzzy PD, and combination of two independent CFLC were used to achieve the balancing of the TWIP on Real-Time. | ||||
| Keywords | ||||
| State-feedback controller; Fuzzy Logic controller; Fuzzy PI; Fuzzy PD; Two-wheeled Inverted Pendulum; Mamdani FIS; Real-Time Control | ||||
| References | ||||
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