Fuzzy-logic Control of a Two Wheeled Inverted Pendulum

In this paper the implementation of a proportional Fuzzy Logic Control FLC-P, and proportional Derivative Fuzzy Logic Control FLC-PD systems in a mobile robot based in inverter pendulum on two wheeled is presented, the aim is to keep the pendulum stable to maintain the vertical, while the robot moves autonomously. The microcontroller dynamically calculates the speed values that must be delivered to the motors, depending on the measurements that are obtained from the sensors. Finally, the results obtained from the performance of the controllers are shown.