A Two-Wheeled Self-Balancing Robot with the Fuzzy PD Control Method

A two-wheeled self-balancing robot with a fuzzy PD control method is described and analyzed as an example of a high-order, multiple-variable, nonlinear, strong-coupling, and unstable system. Based on a system structure model, a kinetic equation is constructed using Newtonian dynamics and mechanics. After a number of simulation experiments, we get the best , , and state-feedback matrices. Then a fuzzy PD controller is designed for which the position and speed of the robot are inputs and for which the angle and angle rate of the robot are controlled by a PD controller. Finally, this paper describes a real-time control platform for the two-wheeled self-balancing robot that controls the robot effectively, after some parameter debugging. The result indicates that the fuzzy PD control algorithm can successfully achieve self-balanced control of the two-wheeled robot and prevent the robot from falling