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1、2011The6thInternationalForumonStrategicTechnologyDesignofFuzzyLogicControllerforTwo-wheeledSelf-balancingRobotJunfengWuWanyingZhangCollegeofAutomationCollegeofAutomationHarbinUniversityofScience&TechnologyHarbinUniversityofScience&TechnologyHarbin,ChinaHarbin,Chinawujf@hrbust
2、.edu.cnzhangwy8@163.comAbstract-Two-wheeledself-balancingrobotisahighorder,SincefuzzysetswerefirstestablishedbyL.A.Zadehinmultiple-variables,non-linear,strongcoupling,andinstability1965,effortshaveledtorapiddevelopmentsinfuzzysettheorysystem.Onthebasisofbuildingupthesystemstr
3、ucturemodel,anditsapplications[4].ThefirstknownsuccessfulapplicationkineticequationisbuiltupbyusingNewtondynamicsmechanicsoffuzzysettheoryincontrolfieldwasthisprovidedbyE.H.theory.Afterthat,thepoleplacementstate-feedbackcontrollerMamdaniin1974.Today,severalcommercialproducts,
4、suchandfuzzylogiccontrollerarebothdesigned,bothofwhichhaveaswashingmachines,cameras,andairconditioners,areoftengoodsimulationcurvesatthesamedisturbanceforce.Finally,manufacturedbycontainingcertainfuzzylogiccontrollers.somesimulationexperimentsbedoneintheundisturbedanddisturbe
5、denvironmentrespectively.ThesimulationresultsThispapermakesastudyoftheGBOTl001two-wheeledindicatethatthefuzzylogiccontrolalgorithmcanrealizetheselfself-balancingrobotproducedbyGoogolTechnologybalancecontrolofthetwo-wheeledrobotsuccessfullyand(Shenzhen)Limited,establishingthem
6、athematicalmodelofrestraintherobotfromfallingdown,soastosatisfythethissystem,suingfuzzylogiccontroltheorytocontroltheanticipatedcontrolgoalsoftherobotandobtainthebetterpositionandspeedoftherobot,atthesametimewegetagooddynamicperformance,soithasthebettertheoryvalueandthecontro
7、leffectinMATLAB.appliedresearchvalue.Keywords-fuzzycontrol;poleplacement;two-wheeledselfIT.DESCRIPTIONOFTHESYSTEMbalancingrobot;controltheoryA.StructuralAnalysisa/TheRobotSystemI.INTRODUCTIONWecangetalinearmodelwiththeseassumptions[5]:•Therobotisarigid-bodyanddoesnotdistortdu
8、ringThetwo-wheeledself-balancingrobot[1]systempossessesmoving.thecha
