A coaxial couple wheeled robot with T‐S fuzzy equilibrium control
Author:
Li Chaoquan,Gao Xueshan,Huang Qiang,Dai Fuquan,Shao Jie,Bai Yang,Li Kejie
Abstract
PurposeThe purpose of this paper is to introduce a high load capacity coaxial couple wheeled robot (CCWR) and investigate a simple structure but effective fuzzy equilibrium controller based on (Takagi‐Sugeno) T‐S for balance control in wide‐angle range.Design/methodology/approachBy selecting the robot inclination angle and angular rate as input variables and the DC motors' rotation speed as output variables, a T‐S fuzzy controller (FC) is established.FindingsSimplified robot dynamic equilibrium equations are feasible; the robot balance in wide‐angle range could be controlled by the T‐S FC. Despite the existence of small vibrations near the equilibrium position, the system can return to equilibrium within 3 s, showing strong robustness.Practical implicationsThe robot can achieve self‐balance and pivot around, moreover, it provides a new way for balance control of CCWR in wide‐angle range. And at the same time, the robot can achieve its work in semi‐autonomous and tele‐operated mode.Originality/valueThe paper shows that designing the controller based on static analysis is feasible; simple structure T‐S fuzzy control way is introduced to balance control for CCWR in a wide angle scale; the development target is to provide a kind of robot platform for testing control algorithms or a personal transporter, and the project is supported by the High Technology Research and Development Program of China.
Subject
Industrial and Manufacturing Engineering,Computer Science Applications,Control and Systems Engineering
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