Publisher : Institute of Control, Robotics and Systems
DOI : 10.5302/J.ICROS.2016.15.0101
Title & Authors
Neuro-fuzzy Control for Balancing a Two-wheel Mobile Robot Park, Young Jun; Jung, Seul;
This paper presents the neuro-fuzzy control method for balancing a two-wheel mobile robot. A two-wheel mobile robot is built for the experimental studies. On-line learning algorithm based on the back-propagation(BP) method is derived for the Takagi-Sugeno(T-S) neuro-fuzzy controller. The modified error is proposed to learn the B-P algorithm for the balancing control of a two-wheel mobile robot. The T-S controller is implemented on a DSP chip. Experimental studies of the balancing control performance are conducted. Balancing control performances with disturbance are also conducted and results are evaluated.
T-S neuro-fuzzy control;balancing control;two-wheel mobile robot;