Design of Fuzzy Logic Control System for Segway Type Mobile Robots

Kwak, Sangfeel;Choi, Byung-Jae

  • Received : 2015.04.23
  • Accepted : 2015.06.25
  • Published : 2015.09.30


Studies on the control of inverted pendulum type systems have been widely reported. This is because this type of system is a typical complex nonlinear system and may be a good model to verify the performance of a proposed control system. In this paper, we propose the design of two fuzzy logic control systems for the control of a Segway mobile robot which is an inverted pendulum type system. We first introduce a dynamic model of the Segway mobile robot and then analyze the system. We then propose the design of the fuzzy logic control system, which shows good performance for the control of any nonlinear system. In this paper, we here design two fuzzy logic control systems for the position and balance control of the Segway mobile robot. We demonstrate their usefulness through simulation examples. We also note the possibility of simplifying the design process and reducing the computational complexity. This possibility is the result of the skew symmetric property of the fuzzy rule tables of the system.


Inverted Pendulum System;Segway Mobile Robot;Fuzzy Logic Control System;Position Control;Balance Control


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