TY - GEN
T1 - Experimental Validation of Fuzzy-Optimal Control for a Two-Wheeled Inverted Pendulum
AU - Herrera, Marco
AU - Benítez, Diego S.
AU - Aguirre, Omar
AU - Camacho, Oscar
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - This paper presents an optimal controller with integral action based on Takagi-Sugeno (TS) fuzzy modeling of a multivariable nonlinear system to control a two-wheeled inverted pendulum. The T-S fuzzy model was obtained by generating input/output data using Monte Carlo simulations. A Kalman Filter enhances trajectory tracking when estimating the orientation angle, which is problematic due to electromagnetic interference. Furthermore, the Kalman filter is also used to remove the drift effect of the gyro sensor to improve the estimation of the tilt angle. The proposed controller is robust against modeling uncertainties through mass change; it also presents a steady-state error very close to zero, which brings the system to the desired final states. The designed controller was implemented on the Lego Mindstorms NXT 2.0 educational platform using the RobotC programming language.
AB - This paper presents an optimal controller with integral action based on Takagi-Sugeno (TS) fuzzy modeling of a multivariable nonlinear system to control a two-wheeled inverted pendulum. The T-S fuzzy model was obtained by generating input/output data using Monte Carlo simulations. A Kalman Filter enhances trajectory tracking when estimating the orientation angle, which is problematic due to electromagnetic interference. Furthermore, the Kalman filter is also used to remove the drift effect of the gyro sensor to improve the estimation of the tilt angle. The proposed controller is robust against modeling uncertainties through mass change; it also presents a steady-state error very close to zero, which brings the system to the desired final states. The designed controller was implemented on the Lego Mindstorms NXT 2.0 educational platform using the RobotC programming language.
KW - Fuzzy System Identification
KW - Kalman Filter
KW - Multivariable Control
KW - Non-linear Control
KW - Optimal Control
UR - https://www.scopus.com/pages/publications/85179513510
U2 - 10.1109/ETCM58927.2023.10309009
DO - 10.1109/ETCM58927.2023.10309009
M3 - Contribución a la conferencia
AN - SCOPUS:85179513510
T3 - ECTM 2023 - 2023 IEEE 7th Ecuador Technical Chapters Meeting
BT - ECTM 2023 - 2023 IEEE 7th Ecuador Technical Chapters Meeting
A2 - Lalaleo, David Rivas
A2 - Chauvin, Manuel Ignacio Ayala
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 7th IEEE Ecuador Technical Chapters Meeting, ECTM 2023
Y2 - 10 October 2023 through 13 October 2023
ER -