TY  - JOUR
AB  - 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.
VL  - 38
IS  - 3
SN  - 0143-991X
DO  - 10.1108/01439911111122798
UR  - https://doi.org/10.1108/01439911111122798
AU  - Li Chaoquan
AU  - Gao Xueshan
AU  - Huang Qiang
AU  - Dai Fuquan
AU  - Shao Jie
AU  - Bai Yang
AU  - Li Kejie
PY  - 2011
Y1  - 2011/01/01
TI  - A coaxial couple wheeled robot with T‐S fuzzy equilibrium control
T2  - Industrial Robot: An International Journal
PB  - Emerald Group Publishing Limited
SP  - 292
EP  - 300
Y2  - 2024/09/21
ER  -