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Please use this identifier to cite or link to this item: http://ntour.ntou.edu.tw:8080/ir/handle/987654321/46993

Title: Design and Implementation of Fuzzy Control on a Two-Wheel Inverted Pendulum
Authors: Cheng-Hao Huang
Wen-June Wang
Chih-Hui Chiu
Contributors: 國立臺灣海洋大學:通訊科學系
Keywords: Hardware
Fuzzy control
Wheels
Field programmable gate arrays
Computer architecture
Adaptation model
Process control
Date: 2011
Issue Date: 2018-06-26T08:27:46Z
Publisher: IEEE Transactions on Industrial Electronics
Abstract: Abstract: This paper introduces the design and implementation of a two-wheel inverted pendulum (TWIP) system with a fuzzy control scheme and the system-on-a-programmable-chip (SoPC) technology. The control scheme includes three kinds of fuzzy controls which are the fuzzy balanced standing control (FBSC), the fuzzy traveling and position control (FTPC), and the fuzzy yaw steering control (FYSC). Based on the Takagi-Sugeno fuzzy model of the TWIP, the FBSC is a structure of a parallel distributed compensator solved by the linear matrix inequality approach. Based on the motion characteristic of the TWIP, the FTPC and the FYSC are designed with Mamdani architecture if-then rules. Furthermore, the fuzzy control scheme for the real TWIP is implemented into an SoPC development board with an embedded reduced-instruction-set-computer soft-core processor and user intellectual property modules. Both the computer simulations and practical experiments demonstrate the effectiveness of the proposed control scheme.
Relation: 58(7) pp.2988-3001
URI: http://ntour.ntou.edu.tw:8080/ir/handle/987654321/46993
Appears in Collections:[通訊與導航工程學系] 期刊論文

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