Anti-Swing and Position Control of Single Wheeled Inverted Pendulum Robot (SWIPR)

Abstract

This article presents a fuzzy logic based offline control strategy for the stabilisation of a single-wheeled inverted pendulum robot (SWIPR). A SWIPR comprises of robot chassis mounted on a single wheel. A Matlab-Simulink model of the system has been built from mathematical equations derived using Newton's second law of motion. The study considers three different shape membership functions (MFs) i.e. gaussian, gbell and trapezoidal for designing of fuzzy logic controllers (FLCs). The performance parameters considered for comparison of controllers were rising time, settling time, steady state error and maximum overshoot. The simulation results proved the superiority of gbell MFs over other MFs.

Advanced Proportional-Integral-Derivative Control Compensation Based on a Grey Estimated Model in Dynamic Balance of Single-Wheeled Robot

“…We calculate the generating sequence e (0) (k) in Equation ( 27), and build up the corresponding GM (1,1) model as Equation (28). where δ(k − t) 1 k ≥ t 0 k ≤ t is the modified parameters.…”

“…Generally, studies about the balance of the single-wheel robot are based on the proportional-integral-derivative (PID) controller, because of the advantages provided by the PID control method [1,9,[27][28][29]. The PID control mothed is feasible to implement quickly into an embedded system.…”

Neural Network Supervision Control Strategy for Inverted Pendulum Tracking Control

“…ey are, respectively, applicable to a class of nonsmooth nonlinear systems and a class of multi-input multioutput nonlinear time-delay systems with input saturation. In [10,11], two different adaptive methods were proposed to solve the unknown and stochastic nonlinear tracking problems of nonlinear systems. And other scholars have studied the stabilization and convergence of the system [12][13][14].…”