Design and Development of Mamdani-Like Fuzzy Control Algorithm for a Wheeled Human-Conveyance Vehicle Control

A wheeled human-conveyance vehicle (WHCV) with a low-level microprocessor is realized in this paper. WHCVs are environmentally friendly short-range transportation vehicles. This paper proposes a simple Mamdani-like fuzzy controller for self-balancing WHCV control. System stability is guaranteed by establishing sufficient conditions based on the Lyapunov stability analysis. Finally, experimental results show that the proposed Mamdani-like fuzzy control strategy can control the WHCV.

I. Introduction

Human assistance transportation systems have received significant attention in recent years [1]–[5]. This paper focuses on one of these systems, which is called the two-wheeled mobile vehicle with an underactuated joint. In this paper, the two-wheeled mobile vehicle is called a wheeled human-conveyance vehicle(WHCV). The WHCV is a simple electric mobile platform that is not connected to a fixed location. It is a new type of personal vehicle that has only two coaxially mounted wheels and a platform, which occupies a small space. WHCVs have high mobility and are suitable for use in metropolitan settings. They have many benefits for the user and environment, such as improving the quality of life in the city, ease of parking, and reduced gasoline consumption. Furthermore, it can also help reduce the impact of global warming by reducing air pollution and consumption of imported fossil fuels.