Name
Abstract | ||
|---|---|---|
Purpose - The 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/approach - By 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 (K) is established.Findings - Simplified 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 implications - The 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/value - The 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. |
Year | DOI | Venue |
|---|---|---|
2011 | 10.1108/01439911111122798 | INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION |
Keywords | Field | DocType |
Robots, Control systems | Mechanical equilibrium,Angular velocity,Control theory,Control engineering,Artificial intelligence,Control system,Fuzzy control system,Robotics,Control theory,Simulation,Fuzzy logic,Engineering,Robot | Journal |
Volume | Issue | ISSN |
38 | 3 | 0143-991X |
Citations | PageRank | References |
3 | 0.51 | 10 |
Authors | ||
7 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Chaoquan Li | 1 | 6 | 1.22 |
| Xueshan Gao | 2 | 43 | 15.41 |
| Qiang Huang | 3 | 266 | 91.95 |
| Fuquan Dai | 4 | 7 | 2.27 |
| Jie Shao | 5 | 679 | 70.78 |
| Yang Bai | 6 | 3 | 0.51 |
| Kejie Li | 7 | 100 | 20.73 |