Modeling of two-wheeled self-balancing robot and fuzzy self-adjusting PID control - 文章详情页

作者：

Cai, Jian-Xian (Cai, Jian-Xian.) | Ruan, Xiao-Gang (Ruan, Xiao-Gang.) | Gan, Jia-Fei (Gan, Jia-Fei.)

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摘要：

The　Newton　Mechanics　is　used　to　drive　the　mathematical　model　for　a　non-stable,　non-linear,　strong　coupling　two-wheeled　robot.　And　then　this　paper　introduces　the　principle　and　method　to　tune　PID　parameter　based　on　Fuzzy　control,　which　suits　to　control　the　two-wheeled　self-balancing　robot.　The　simulation　result　and　actual　application　in　robot　indicate　that　the　dynamic　and　static　performance　is　improved.

关键词：

Fuzzy control Robots Three term control systems

作者机构：

[ 1 ] [Cai, Jian-Xian]Beijing University of Technology Electronic Information and Control Engineering, Beijing 100124, China
[ 2 ] [Ruan, Xiao-Gang]Beijing University of Technology Electronic Information and Control Engineering, Beijing 100124, China
[ 3 ] [Gan, Jia-Fei]Beijing University of Technology Electronic Information and Control Engineering, Beijing 100124, China

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