Publications / 2000 Proceedings of the 17th ISARC, Taipei, Taiwan

A Bicycle Robot: Part 1 Modeling and Control

Pitikhate Sooraksa, U. Sritheeerawirojana
Pages 1-5 (2000 Proceedings of the 17th ISARC, Taipei, Taiwan, ISBN 9789570266986, ISSN 2413-5844)
Abstract:

In this paper, a simple fuzzy logic based intelligent architecture is developed for controlling a bicycle robot. The approximated model for membership functions and control gains can be obtained by simply considering the robot as an inverted pendulum in 3-dimensional space. The obtained model is merely a conceptually estimating one because the mismatch modeling and the uncertainty will be taken care by the intelligent controller. Simulation results are carried out. The hardware realization and implementation will be shown in Part 2.

Keywords: bicycle robot, fuzzy logic control, modeling, intelligent control, two wheeled robot