English  |  正體中文  |  简体中文  |  Items with full text/Total items : 27320/39164
Visitors : 2478671      Online Users : 36
RC Version 4.0 © Powered By DSPACE, MIT. Enhanced by NTU Library IR team.
Scope Adv. Search

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
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

Files in This Item:

File Description SizeFormat

All items in NTOUR are protected by copyright, with all rights reserved.


著作權政策宣告: 本網站之內容為國立臺灣海洋大學所收錄之機構典藏,無償提供學術研究與公眾教育等公益性使用,請合理使用本網站之內容,以尊重著作權人之權益。
網站維護: 海大圖資處 圖書系統組
DSpace Software Copyright © 2002-2004  MIT &  Hewlett-Packard  /   Enhanced by   NTU Library IR team Copyright ©   - Feedback