Decoupled fuzzy sliding-mode balance control of wheeled inverted pendulums using an 8-bit microcontroller
學年 100
學期 2
發表日期 2012-03-14
作品名稱 Decoupled fuzzy sliding-mode balance control of wheeled inverted pendulums using an 8-bit microcontroller
作品名稱（其他語言）
著者 Hsu, Chun-Fei; Liu, Chin-Yi
作品所屬單位 淡江大學電機工程學系
出版者
會議名稱 International MultiConference of Engineers and Computer Scientists 2012(IMECS 2012)
會議地點 Hong Kong
摘要 A wheeled inverted pendulum (WIP) system is a typical unstable complex nonlinear system widely utilized for educational purposes and control research. The dynamic of a WIP system can be represented as two second-order subsystems which represent the angle of body and the position of wheel. This paper proposes a decoupled fuzzy sliding-mode balance control (DFSBC) system based on a time-varying sliding surface for a WIP system. A decoupled sliding surface which includes the information of two-subsystem is designed to make the state trajectories of both subsystems move toward their sliding surface and then simultaneously approach zeros. The control effort of a WIP system is generated based on the idea that the state can quickly reach the decoupled sliding surface without large overshoot. Moreover, the slope of the decoupled sliding surface is adjusted by a fuzzy system, whose fuzzy rules are constructed based on the idea that the convergence time of the state trajectories can be reduced. Finally, an 8-bit microcontroller-based WIP system is setup. Experimental results show that the proposed DFSBC system can achieve favorable balance control response for the simultaneous control of the angle of body and the position of wheel.
關鍵字 wheeled inverted pendulums
語言 en
收錄於
會議性質 國際
校內研討會地點
研討會時間 20120314~20120316
通訊作者 Hsu, Chun-Fei
國別 HKG
公開徵稿 Y
出版型式 紙本
出處 Proceedings of the International MultiConference of Engineers and Computer Scientists 2012 II, pp.823-827
相關連結

機構典藏連結 ( http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/81329 )

機構典藏連結
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