Control of Mobile Two-Wheeled Inverted Pendulum using Interval Type-2 Fuzzy Logic

SEEE DIGIBOOK ON ENGINEERING & TECHNOLOGY, VOL. 01, FEB 2018 PP.(265-270)
Abstract– This paper lays emphasis on the importance of integrated interval type-2 fuzzy logic approach that simultaneously models and controls an under actuated mobile two-wheeled inverted pendulum (MTWIP). In mobile two wheeled inverted pendulum, the modelling uncertainties and external disturbances are the major problems, which disturbs the main objective of obtaining the desired position and direction along with balancing the mobile two-wheeled inverted pendulum. This issue can be controlled by an integrated interval type-2 fuzzy logic approach. This approach is used to achieve the expected balanced condition using Mamdani fuzzy model.The outcome of the interval type-2 fuzzy logic system outperform the type-1 fuzzy logic system in real world experiments. This system models have been simulated by MATLAB software.
Index Terms – Interval Type-2 Fuzzy Logic Controller(IT-2 FLC), Mobile two wheeled inverted pendulum(MTWIP), State space modeling.
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R.Jayarani, R.Kanmani, M.Kiruthika
University College of Engineering BIT Campus,
Tiruchirappalli, India
autjayarani@gmail.com,
kanmaniram1@gmail.com,
keerthi5797@gmail.com

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