Design and Implementation of a Takagi–Sugeno-Type Fuzzy Logic Controller on a Two-Wheeled Mobile Robot

@article{Xu2013DesignAI,
  title={Design and Implementation of a Takagi–Sugeno-Type Fuzzy Logic Controller on a Two-Wheeled Mobile Robot},
  author={Jianxin Xu and Zhao-Qin Guo and Tong Heng Lee},
  journal={IEEE Transactions on Industrial Electronics},
  year={2013},
  volume={60},
  pages={5717-5728}
}
This paper presents a novel implementation of a Takagi-Sugeno-type fuzzy logic controller (FLC) on a two-wheeled mobile robot (2WMR), which consists of two wheels in parallel and an inverse pendulum. The control objective of the 2WMR is to achieve position control of the wheels while keeping the pendulum around the upright position that is an unstable equilibrium. The novelties of this work lie in three aspects. First, the FLC is a synthesized design which utilizes both heuristic knowledge and… CONTINUE READING

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