Wheeled inverted pendulum control based on model-free fuzzy control strategy

This paper proposes a model-free fuzzy controller (MFFC) for wheeled inverted pendulums (WIPs) control problem. The main purpose of this paper is to develop a self-dynamic balancing and motion control strategy. A simple necessary and sufficient condition for analytically determining the stability of a wheeled inverted pendulum system is established. Finally, experimental results show that the proposed model-free fuzzy control strategy can control the whole system very well.

I. Introduction

Many studies have investigated the dynamics of inverted pendulums [1]–[10]. The primary objective of this study is to achieve pendulum balance when a pendulum is upright. Such a system can be applied as a primary tool for examining the balance achieved with active balancing systems, and is an important contribution to the development legged machines and robotic locomotion studies. An inverted pendulum is a typical unstable complex nonlinear system widely utilized for educational purposes and control research. To date, most control experiments use the rail-cart structure. This inverted pendulum consists of a cart with an attached pendulum running along a straight rail. The control objective is to move the pendulum to the upper unstable equilibrium position by moving the cart along the rail. Clearly, such an inverted pendulum is a one-dimensional control structure.