Fuzzy Control of a Two-Wheeled Mobile Pendulum System

In this paper, the fuzzy control of a mechatronic system will be studied. The mechatronic system is a special mobile robot (called two-wheeled mobile pendulum) that has two contact points with the supporting surface and its center of mass is located under the wheel axis. Due to the mechanical structure, the inner body (which acts as a pendulum between the wheels) tends to oscillate during the translational motion of the robot, thus the application of complex control solutions is essential in order to stabilize the dynamical system. In the first part of the paper the mechatronic system and the corresponding mathematical model are introduced, while in the second part the design and implementation of different fuzzy controllers are elaborated for the plant. The achieved control performances are analyzed based on simulation and implementation results.