Parallel Distributed Compensation (PDC) Control of Two Wheeled Balancing Human Transporter Using Fuzzy Explanation of the Rider Input

This paper focuses on the development of a vehicle based on the stabilization of an inverted pendulum. The fuzzy system is introduced to improve the sense of intelligence in the system. This fuzzy system defines the desired velocity via the rider’s inclination. As the direct controller, the paper presents a nonlinear modeling and control based on the parallel distributed compensation (PDC) method, where feedback control gains areoptimally calculated by the LQR method. To show the efficiency of our proposed approach, simulations are done on the nonlinear model of the system.

Keywords:

Wheeled inverted pendulum , Fuzzy , PDCcontroller , Segway