Design and Implementation of a Fuzzy Logic Controller for Two Wheeled Self Balancing Robot

This paper describes the design of a simple fuzzy logic controller for self balancing robot. The proposed controller is single input, single output controller. The input to the controller is tilt angle and the output forms the speed commands for the motors. The controller is designed using MATLAB and implemented with a low cost readily available AT89C52 microcontroller. Results have proved the validity of the proposed controller for balancing the robot.

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