IDEAS home Printed from https://ideas.repec.org/a/igg/jsda00/v6y2017i4p17-33.html
   My bibliography  Save this article

Position and Tilt Control of Two-Wheeled Robot (TWR): A Neuro-Fuzzy Approach

Author

Listed:
  • Ashwani Kharola

    (Graphic Era University, Dehradun, India)

  • Pravin P. Patil

    (Department of Mechanical Engineering, Graphic Era University, Dehradun, India)

Abstract

This paper presents a fuzzy based adaptive control approach for stabilization of Two wheeled robot (TWR) system. The TWR consists of a robot chassis mounted on two movable wheels. The objective is to stabilize the proposed system within desired time, minimum overshoot and at desired location. The data samples collected from simulation results of fuzzy controllers were used for training, tuning and optimisation of an adaptive neuro fuzzy inference system(ANFIS) controller. A Matlab Simulink model of the system has been built using Newton's second law of motion. The effect of shape and number of membership functions on training error of ANFIS has also been analysed. The designing of fuzzy rules for both fuzzy and ANFIS controller were carried out using gbell shape memberships. Simulations were performed which compared and validated the performance of both the controllers.

Suggested Citation

  • Ashwani Kharola & Pravin P. Patil, 2017. "Position and Tilt Control of Two-Wheeled Robot (TWR): A Neuro-Fuzzy Approach," International Journal of System Dynamics Applications (IJSDA), IGI Global, vol. 6(4), pages 17-33, October.
    • Handle: RePEc:igg:jsda00:v:6:y:2017:i:4:p:17-33
    as

    Download full text from publisher

    File URL: http://services.igi-global.com/resolvedoi/resolve.aspx?doi=10.4018/IJSDA.2017100102
    Download Restriction: no
    ---><---

    More about this item

    Statistics

    Access and download statistics

    Corrections

    All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:igg:jsda00:v:6:y:2017:i:4:p:17-33. See general information about how to correct material in RePEc.

    If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

    We have no bibliographic references for this item. You can help adding them by using this form .

    If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

    For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: Journal Editor (email available below). General contact details of provider: https://www.igi-global.com .

    Please note that corrections may take a couple of weeks to filter through the various RePEc services.

    IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.