Anti-Swing and Position Control of Single Wheeled Inverted Pendulum Robot (SWIPR)

Abstract

This article presents a fuzzy logic based offline control strategy for the stabilisation of a single-wheeled inverted pendulum robot (SWIPR). A SWIPR comprises of robot chassis mounted on a single wheel. A Matlab-Simulink model of the system has been built from mathematical equations derived using Newton's second law of motion. The study considers three different shape membership functions (MFs) i.e. gaussian, gbell and trapezoidal for designing of fuzzy logic controllers (FLCs). The performance parameters considered for comparison of controllers were rising time, settling time, steady state error and maximum overshoot. The simulation results proved the superiority of gbell MFs over other MFs.