Variable Universe Type-II Fuzzy Logic Control Design for the GOOGOL’s Two-Wheeled Self-Balancing Robot

Abstract

In the paper, Googol's two-wheeled self-balancing robot is used in the controller design, which is introduced based on linear parameter varying technique and variable universe type-II fuzzy method. In the control process, the linear matrix inequality is used to solve the variable universe error and error derivative gain instead of the common linear quadratic regulator technique. In the case of disturbance, the position and yaw are controlled separately, the interval type-II fuzzy logic controller with linear matrix inequality will not stable, and the robot is out of balance when the disturbance increases to a certain degree. The variable universe interval type-II fuzzy logic controller are used to alleviate this problem, two interval type-II fuzzy logic controller are presented to the whole control scheme, and the self-balancing robot could reach the desired position asymptotically, and the body upright balance purpose are kept. It is found that the variable universe interval type-II fuzzy logic controller has better anti-disturbance ability and faster response speed due to the usage of type-II fuzzy sets and linear matrix inequalities.