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PurposeThe purpose of this paper is to introduce a high load capacity coaxial couple wheeled robot (CCWR) and investigate a simple structure but effective fuzzy equilibrium controller based on (Takagi‐Sugeno) T‐S for balance control in wide‐angle range.Design/methodology/approachBy selecting the robot inclination angle and angular rate as input variables and the DC motors' rotation speed as output variables, a T‐S fuzzy controller (FC) is established.FindingsSimplified robot dynamic equilibrium equations are feasible; the robot balance in wide‐angle range could be controlled by the T‐S FC. Despite the existence of small vibrations near the equilibrium position, the system can return to equilibrium within 3 s, showing strong robustness.Practical implicationsThe robot can achieve self‐balance and pivot around, moreover, it provides a new way for balance control of CCWR in wide‐angle range. And at the same time, the robot can achieve its work in semi‐autonomous and tele‐operated mode.Originality/valueThe paper shows that designing the controller based on static analysis is feasible; simple structure T‐S fuzzy control way is introduced to balance control for CCWR in a wide angle scale; the development target is to provide a kind of robot platform for testing control algorithms or a personal transporter, and the project is supported by the High Technology Research and Development Program of China.

The purpose of this paper is to propose a systematic smooth control method for improving the stability of the two-wheeled self-balance robot under impact disturbances. For enhancing the robtot stability, a blend controller based on states feedback control embedded with the PID speed synchronization is estabilished, as well as a hybrid filter composes of RC network and Kalman algorithm. With the hybrid filter, disturbance signals are maximally attenuated or directly eliminated, and the system sensitivity to the impact disturbances significantly declines ; under the blend motion controller, the robot can not only keep balance under impacts but also achieve synchronization of the two driving wheels. The dynamic model, the blend controller, hybrid filter, and experimental results including application to transport are described, both of the simulation and experimental results are provided to verify the analysis.

This paper addresses a Coaxial Couple WheeledRobot platform with a dual-mode for practical applications both as a personal transporter and a robot patrolman. This CCWR has two modes: the patrol mode as CCWR-P and the transporter mode as CCWR-T. In order to achieve fast switching between the two modes, modular design approach is adopted, and mechanism as well as the designed controller are developed and demonstrated. The system is divided into four separate parts, and independent functional modules can be quickly assembled for different target applications. Integration hardware is focused here, as well as the implementation of the controllers. For the robot control, a compact states feedback controller is proposed in this paper, and then the robot can track the desired inputs. Finally, the running experiments indoor and outdoor proved that the robot platform can move smoothly with the two modes and furthermore the robot can execute the tasks of transporting and patrol.