Paper Info
Title
Adaptive fuzzy logic control of dynamic balance and motion for wheeled inverted pendulums
Abstract
In this paper, adaptive fuzzy logic control of dynamic balance and motion is investigated for wheeled inverted pendulums with parametric and functional uncertainties. The proposed adaptive fuzzy logic control based on physical properties of wheeled inverted pendulums makes use of a fuzzy logic engine and a systematic online adaptation mechanism to approximate the unknown dynamics. Based on Lyapunov synthesis, the fuzzy control ensures that the system outputs track the given bounded reference signals to within a small neighborhood of zero, and guarantees semi-global uniform boundedness of all closed-loop signals. The effectiveness of the proposed control is verified through extensive simulations.
Year
DOI
Venue
2009
10.1016/j.fss.2008.09.013
Fuzzy Sets and Systems
Keywords
Field
DocType
proposed adaptive fuzzy logic,adaptive fuzzy logic control,bounded reference signal,closed-loop signal,dynamic balance,inverted pendulum,lyapunov synthesis,fuzzy logic engine,proposed control,fuzzy control,fuzzy logic,physical properties
Lyapunov function,Control theory,Fuzzy logic,Dynamic balance,Uniform boundedness,Fuzzy set,Adaptive control,Fuzzy control system,Control system,Mathematics
Journal
Volume
Issue
ISSN
160
12
Fuzzy Sets and Systems
Citations 
PageRank 
References 
43
1.85
15
Authors
2
Name
Order
Citations
PageRank
Zhijun Li1105156.61
Chunquan Xu2576.43