Velocity control of a two-wheeled inverted pendulum mobile robot: a fuzzy model-based approach

Mustapha Muhammad, Amir A. Bature, Umar Zangina, Salinda Buyamin, Anita Ahmad, Mohamad A. Shamsudin


This paper presents the design of a fuzzy tracking controller for balancing and velocity control of a Two-Wheeled Inverted Pendulum (TWIP) mobile robot based on its Takagi-Sugino (T-S) fuzzy model, fuzzy Lyapunov function and non-parallel distributed compensation (non-PDC) control law. The T-S fuzzy model of the TWIP mobile robot was developed from its nonlinear dynamical equations of motion. Stabilization conditions in a form of linear matrix inequalities (LMIs) were derived based on the T-S fuzzy model of the TWIP mobile robot, a fuzzy Lyapunov function and a non-PDC control law. Based on the derived stabilization conditions and the T-S fuzzy model of the TWIP mobile robot, a state feedback velocity tracking controller was then proposed for the TWIP mobile robot. The balancing and velocity tracking performance of the proposed controller was investigated via simulations. The simulation result shows the effectiveness of the proposed control scheme.


Fuzzy Lyapunov function; Linear matrix inequality (LMI); Mobile robot; T-S Fuzzy Model; TWIP

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Bulletin of Electrical Engineering and Informatics (BEEI)
ISSN: 2089-3191, e-ISSN: 2302-9285
This journal is published by the Institute of Advanced Engineering and Science (IAES) in collaboration with Universitas Ahmad Dahlan (UAD) and Intelektual Pustaka Media Utama (IPMU).