PSO-optimized fuzzy logic controller for a single wheel robot

Abstract

A fuzzy logic controller (FLC) for steering control of a single wheel robot with fuzzy membership functions optimized using particle swarm optimization (PSO) is presented in this paper. The single wheel robot is statically unstable and has nonlinear dynamics when it is in motion. Design of a linear controller is anything but straightforward. At an earlier stage of development, the wheel was controlled manually using remote control console. That experience is transformed into a linguistic based control, e.g., FLC. However, the issue of selecting various functions and parameters for FLC still remains to be resolved. In this work, Particle Swarm Optimization (PSO) is used to optimize the membership functions of the FLC. © 2010 Springer-Verlag.