Position and Tilt Control of Two-Wheeled Robot (TWR): A Neuro-Fuzzy Approach

Ashwani Kharola and Pravin P. Patil
Additional contact information
Ashwani Kharola: Graphic Era University, Dehradun, India
Pravin P. Patil: Department of Mechanical Engineering, Graphic Era University, Dehradun, India

International Journal of System Dynamics Applications (IJSDA), 2017, vol. 6, issue 4, 17-33

Abstract: This paper presents a fuzzy based adaptive control approach for stabilization of Two wheeled robot (TWR) system. The TWR consists of a robot chassis mounted on two movable wheels. The objective is to stabilize the proposed system within desired time, minimum overshoot and at desired location. The data samples collected from simulation results of fuzzy controllers were used for training, tuning and optimisation of an adaptive neuro fuzzy inference system(ANFIS) controller. A Matlab Simulink model of the system has been built using Newton's second law of motion. The effect of shape and number of membership functions on training error of ANFIS has also been analysed. The designing of fuzzy rules for both fuzzy and ANFIS controller were carried out using gbell shape memberships. Simulations were performed which compared and validated the performance of both the controllers.

Date: 2017
References: Add references at CitEc
Citations:

Downloads: (external link)
http://services.igi-global.com/resolvedoi/resolve. ... 018/IJSDA.2017100102 (application/pdf)

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:igg:jsda00:v:6:y:2017:i:4:p:17-33

Access Statistics for this article

International Journal of System Dynamics Applications (IJSDA) is currently edited by Ahmad Taher Azar

More articles in International Journal of System Dynamics Applications (IJSDA) from IGI Global
Bibliographic data for series maintained by Journal Editor ().