Design and real-time implementation of a fuzzy logic control system for a two-wheeled robot

Abstract

In this paper, fuzzy logic controller is designed for balancing a two-wheeled inverted pendulum robot prototype considering the tilt angle as feedback. Tilt angle sensing error is reduced by adopting a sensor fusion technique. The controller is implemented on an AVR 8-bit microcontroller. The Fuzzy rules are coded and stored in the microcontroller memory. The experimental results show that the robot has the ability to balance during its movement.