Design and development of an intelligent controller for a pole-balancing robot

被引:8
作者
Er, MJ [1 ]
Kee, BH [1 ]
Tan, CC [1 ]
机构
[1] Nanyang Technol Univ, Sch Elect & Elect Engn, Singapore 639798, Singapore
关键词
micro-controller; Fuzzy Inference System; pole-balancing robot;
D O I
10.1016/S0141-9331(02)00068-6
中图分类号
TP3 [计算技术、计算机技术];
学科分类号
0812 [计算机科学与技术];
摘要
In this paper, an intelligent controller capable of static balancing as well as dynamic balancing of a pole mounted on a motorized robot is designed and developed. The brain of the intelligent controller lies in the Fuzzy Inference System, which receives as its input displacement, velocity and acceleration information. An embedded instrumentation system onboard the robot measures the displacement of the robot and the angle of inclination of the pole from the vertical position. For static balancing, the controller needs to maintain the pole in an upright position while the robot is free to move on a flat surface. For dynamic balancing, the robot needs to balance the pole while performing transitions up and down a ramp. Furthermore, the robot needs to steer itself back to the center to prevent it from falling off the ramp. (C) 2002 Elsevier Science B.V. All rights reserved.
引用
收藏
页码:433 / 448
页数:16
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