Adaptive Fuzzy Cerebellar Model Articulation Controller for Two-Wheeled Robot
In this paper, an adaptive Fuzzy Cerebellar Model Articulation Controller (FCMAC) is proposed to control two-wheeled robot at upright position. The dynamical model of the robot,LEGO Mindstorms NXT, is derived from Lagrange of kinetic and potential energies. Based on the developed model, an adaptive FCMAC is then designed. Adaptation laws are derived from the Lyapunov stability analysis. According to the stability analysis, the developed FCMAC guarantees that the system tracking performance and the error convergence can be assured in the closed-loop system. Finally, to compare the system performances we apply the proposed FCMAC and the PID(Proportional Integral Derivative) controller to balance the two-wheeled robot.
PDF
Datasets
Add Datasets
introduced or used in this paper
Results from the Paper
Submit
results from this paper
to get state-of-the-art GitHub badges and help the
community compare results to other papers.
Methods
No methods listed for this paper. Add
relevant methods here
