Design of Fuzzy Logic Controller for Inverted Pendulum-type Mobile Robot Using Smart In-Wheel Motor

Kwak Sangfeel; Song Eunji; Kim KyungSik  and Song ByungSeop   nbsp

doi:10.17485/ijst/2015/v8iS5/70220

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Design of Fuzzy Logic Controller for Inverted Pendulum-type Mobile Robot Using Smart In-Wheel Motor

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Indian Journal of Science and Technology

DOI: 10.17485/ijst/2015/v8iS5/70220

Year: 2015, Volume: 8, Issue: Supplementary 5, Pages: 1-10

Original Article

Design of Fuzzy Logic Controller for Inverted Pendulum-type Mobile Robot Using Smart In-Wheel Motor

Kwak Sangfeel ¹, Song Eunji ¹, Kim KyungSik² and Song ByungSeop^2*

¹Rovitek Co., 201, Daegudae-ro, Gyeongsan, Gyeongsangbuk-do Province, Korea
²Department of Rehabilitation, Science & Technology, Daegu University, 201, Daegudae-ro, Gyeongsan, Gyeongsangbuk-do Province, Korea; [email protected]

This work is licensed under a Creative Commons Attribution 4.0 International License.

Abstract

Some researches for inverted pendulum-type mobile robots have been presented in many articles. In this paper we present the design of a Fuzzy Logic Controller (FLC) for an inverted pendulum-type mobile robot. Its mathematical model is firstly analyzed, and then we get its parameters through some manipulations. The FLC is good for some nonlinear plants. We design a conventional FLC for inverted pendulum-type mobile robot and show some simulation results.
Keyword: Fuzzy Logic Controller (FLC), Inverted Pendulum, Mobile Robot