Design of Vectored Sum-Based Fuzzy Logic Control System and Its Application to Segway-Type Mobile Robot

Abstract

The study of individual mobile devices has been widely conducted. In this paper, we propose the design of some fuzzy logic control systems for the control of the Segway-type mobile robot, which is a kind of inverted pendulum system. We first design two conventional fuzzy logic control systems for position and balance control of the Segway-type mobile robot. And then, we design another two fuzzy logic control systems with a single input variable for position and its balance control. We also propose a new defuzzification method called vectored sum scheme. Finally, in order to check the feasibility of the proposed systems we present some simulation examples.