Design of interval type-2 fuzzy logic controller for mobile wheeled inverted pendulum

摘要

In this paper, a novel interval type-2 fuzzy logic controller (IT2FLC) is proposed for controlling a mobile wheeled inverted pendulum(MWIP) with model uncertainties and external disturbances. The MWIP is a typical underactuated system which is generally composed of two subsystems, an invert pendulum and a mobile robot system. The IT2FLC proposed in this paper is composed of a balancing controller, a velocity controller and a yaw steering controller. The proposed integrated IT2FLC is linear combination of the three individual IT2FLCs which uses simplified type reduce method. The proposed controller has simple structure and requires less computation, also it is expected to have robustness to uncertainties and external disturbances in the practical implementation. Considering the model uncertainties and external disturbances, simulation results proved the effectiveness and robustness of the proposed IT2FLC compared with type-1 fuzzy logic controller (T1FLC).