AUTHOR(S): 

Ákos Odry, István Kecskés, Ervin Burkus, Zoltán Király, Péter Odry

TITLE

Optimized Fuzzy Control of a Two-Wheeled Mobile Pendulum System

KEYWORDS

fuzzy control, optimization, self-balancing robot, mobile robot

ABSTRACT

This paper investigates the performance of an optimized fuzzy control structure developed for the stabilization of a naturally unstable mechatronic system. The mechatronic system is a so-called mobile wheeled pendulum consisting of two actuated coaxial wheels and an inner body which oscillates (as a pendulum) around the wheel axis during planar motion. This motion is controlled in closed loop ensuring both the stabilization of the inner body as well as the planar motion of the wheels. The control structure comprises three fuzzy logic controllers whose input-output ranges and membership functions had been defined heuristically in an earlier study. This paper analyzes the achievable control performance through the formulation of a complex performance index and application of the particle swam optimization on the parameters of the control structure. The complex performance index took into account the reference tracking errors and the extent of inner body oscillation. The optimized fuzzy logic controllers showed a remarkable 29% overall performance improvement in the closed loop dynamics compared to the performance of the initial fuzzy control parameters. The simulation results proved that the optimized closed loop behavior protects more the electro-mechanical structure of the plant since the fast reference tracking performance was achieved along with effectively limited inner body oscillations.

Cite this paper

Ákos Odry, István Kecskés, Ervin Burkus, Zoltán Király, Péter Odry. (2017) Optimized Fuzzy Control of a Two-Wheeled Mobile Pendulum System. International Journal of Control Systems and Robotics, 2, 73-79