Design of Vectored Sum-Based Fuzzy Logic Control System and Its Application to Segway-Type Mobile Robot

Abstract

The study of individual mobile devices has been widely conducted. In this paper, we propose the design of some fuzzy logic control systems for the control of the Segway-type mobile robot, which is a kind of inverted pendulum system. We first design two conventional fuzzy logic control systems for position and balance control of the Segway-type mobile robot. And then, we design another two fuzzy logic control systems with a single input variable for position and its balance control. We also propose a new defuzzification method called vectored sum scheme. Finally, in order to check the feasibility of the proposed systems we present some simulation examples.

Movements and Balance Control of a Wheel-Leg Robot Based on Uncertainty and Disturbance Estimation Method

“…where, w b R ∈ 2×2 and w b p ∈ 2×1 represent the orientation and position of the upper part frame refers to the wheel-axle frame. The position of CoM respect to the wheel-axle coordinate {x w CoM , z w CoM } can be calculated using Equation (4).…”

“…Wheel-leg robots with one or more robotic arms have attracted a great deal of attention in recent years [1]- [3]. The WLRs have more degrees of freedom(DOFs) than two-wheeled robots [4], [5] respect to vertical direction. The wheeled mobile platform can provide more agile and faster moving speed for WLRs than legged robots [6].…”