Study on the Stability and Motion Control of a Unicycle : 4th Report, Fuzzy Gain Schedule PD Controller for Managing Nonlinearity of System

摘要

In this work, to deal with the nonlinear problem that exists in a unicycle-robot system, a fuzzy gain schedule PD controller is proposed to control the robot's postural stability. Using this method, the feedback gains are changed according to fuzzy rules and reasoning. Computer simulations are carried out based on dynamic motion equations developed for the unicycle-robot system. From the simulation results obtained, it is clear that the controllability and postural stability of the robot obtained using two fuzzy gain schedule PD controllers are better than those obtained using a conventional PD and a fuzzy gain schedule PD controller. Furthermore, the control-lability of the system and postural stability of the robot obtained using a conventional PD and a fuzzy gain schedule PD controller are much better than those obtained with two conventional PD controllers. It is confirmed that the proposed fuzzy gain schedule PD controller is very effective for managing the nonlinearity of the system for controlling the postural stability of the robot.