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Two Wheeled Inverted Pendulum fuzzy controller

Posted on 30/03/2016 by univbiskra
Modified on: 13/09/2018
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I controlled my balance robot using a a two fuzzy logic controller 1-one for (IMU feedback) using as input the angle and change in angle , the output is a PWM1 . 2-second for (encoder feedback) use a wheels velocity as input and the output is a PWM2 . PWM=PWM1+PWM2 (motor Control)


Two Wheeled Inverted Pendulum fuzzy controller

I controlled my balance robot using a a two fuzzy logic controller 1-one for (IMU feedback) using as input the angle and change in angle , the output is a PWM1 . 2-second for (encoder feedback) use a wheels velocity as input and the output is a PWM2 . PWM=PWM1+PWM2 (motor Control)

self balance

  • Actuators / output devices: DC Motors, Pololu dual VNH5019 motor driver
  • CPU: Arduino Mega
  • Sensors / input devices: MPU6050
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