Design and Development of Mamdani-Like Fuzzy Control Algorithm for a Wheeled Human-Conveyance Vehicle Control

@article{Chiu2012DesignAD,
  title={Design and Development of Mamdani-Like Fuzzy Control Algorithm for a Wheeled Human-Conveyance Vehicle Control},
  author={Chih-Hui Chiu and Chun Chieh Chang},
  journal={IEEE Transactions on Industrial Electronics},
  year={2012},
  volume={59},
  pages={4774-4783}
}
A wheeled human-conveyance vehicle (WHCV) with a low-level microprocessor is realized in this paper. WHCVs are environmentally friendly short-range transportation vehicles. This paper proposes a simple Mamdani-like fuzzy controller for self-balancing WHCV control. System stability is guaranteed by establishing sufficient conditions based on the Lyapunov stability analysis. Finally, experimental results show that the proposed Mamdani-like fuzzy control strategy can control the WHCV. 
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