A coaxial couple wheeled robot with T‐S fuzzy equilibrium control

Chaoquan Li (Intelligent Robotics Institute, Beijing Institute of Technology, Beijing, People's Republic of China)
Xueshan Gao (Intelligent Robotics Institute, Beijing Institute of Technology, Beijing, People's Republic of China)
Qiang Huang (Intelligent Robotics Institute, Beijing Institute of Technology, Beijing, People's Republic of China)
Fuquan Dai (Intelligent Robotics Institute, Beijing Institute of Technology, Beijing, People's Republic of China)
Jie Shao (Intelligent Robotics Institute, Beijing Institute of Technology, Beijing, People's Republic of China)
Yang Bai (Intelligent Robotics Institute, Beijing Institute of Technology, Beijing, People's Republic of China)
Kejie Li (Intelligent Robotics Institute, Beijing Institute of Technology, Beijing, People's Republic of China)

Industrial Robot

ISSN: 0143-991x

Publication date: 3 May 2011

Abstract

Purpose

The purpose of this paper is to introduce a high load capacity coaxial couple wheeled robot (CCWR) and investigate a simple structure but effective fuzzy equilibrium controller based on (Takagi‐Sugeno) T‐S for balance control in wide‐angle range.

Design/methodology/approach

By selecting the robot inclination angle and angular rate as input variables and the DC motors' rotation speed as output variables, a T‐S fuzzy controller (FC) is established.

Findings

Simplified robot dynamic equilibrium equations are feasible; the robot balance in wide‐angle range could be controlled by the T‐S FC. Despite the existence of small vibrations near the equilibrium position, the system can return to equilibrium within 3 s, showing strong robustness.

Practical implications

The robot can achieve self‐balance and pivot around, moreover, it provides a new way for balance control of CCWR in wide‐angle range. And at the same time, the robot can achieve its work in semi‐autonomous and tele‐operated mode.

Originality/value

The paper shows that designing the controller based on static analysis is feasible; simple structure T‐S fuzzy control way is introduced to balance control for CCWR in a wide angle scale; the development target is to provide a kind of robot platform for testing control algorithms or a personal transporter, and the project is supported by the High Technology Research and Development Program of China.

Keywords

Citation

Li, C., Gao, X., Huang, Q., Dai, F., Shao, J., Bai, Y. and Li, K. (2011), "A coaxial couple wheeled robot with T‐S fuzzy equilibrium control", Industrial Robot, Vol. 38 No. 3, pp. 292-300. https://doi.org/10.1108/01439911111122798

Download as .RIS

Publisher

:

Emerald Group Publishing Limited

Copyright © 2011, Emerald Group Publishing Limited

Please note you might not have access to this content

You may be able to access this content by login via Shibboleth, Open Athens or with your Emerald account.
If you would like to contact us about accessing this content, click the button and fill out the form.
To rent this content from Deepdyve, please click the button.