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A Fuzzy Control Scheme for Asymptotic Command Tracking of Self-Balancing Robots

Published: 28 June 2024 Publication History

Abstract

In this paper, a fuzzy control scheme is proposed for controlling the position and the orientation of a two-wheeled self-balancing robot (TWSB robot). First, a multivariable asymptotic step command tracking controller is computed based on the linearized model of a self-balancing robot and then the integral term of the controller is replaced by a fuzzy PI controller to eliminate the effects of unknown disturbances applied to the wheels of the robot. The proposed two control schemes work properly with step-type input and disturbance signals. The combined fuzzy PI and step tracking controller improves the minimization tracking error of the body axis robot frame position and the orientation of the mobile robot. Using simulation results to the nonlinear model of the self-balancing robot the performance of the two control schemes is compared for various types of disturbance signals.

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ICRSA '23: Proceedings of the 2023 6th International Conference on Robot Systems and Applications
September 2023
335 pages
ISBN:9798400708039
DOI:10.1145/3655532
This work is licensed under a Creative Commons Attribution International 4.0 License.

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Association for Computing Machinery

New York, NY, United States

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Published: 28 June 2024

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  1. Asymptotic tracking control
  2. fuzzy PI controller
  3. self-balancing robots

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