Design of Fuzzy Logic Controller for Inverted Pendulum-type Mobile Robot using Smart In-Wheel Motor

Abstract

Some researches for inverted pendulum-type mobile robots have been presented in many articles. In this paper we present the design of a fuzzy logic controller (FLC) for an inverted pendulum-type mobile robot. Its mathematical model is firstly analyzed, and then we get its parameters through some manipulations. The FLC is good for some nonlinear plants. We design a conventional FLC for inverted pendulum-type mobile robot and show some simulation results.