Real-time Mamdani-like fuzzy and fusion-based fuzzy controllers for balancing two-wheeled inverted pendulum

Two wheeled inverted pendulum (TWIP) resembles many industrial as well as real life applications. TWIP is underactuated, nonlinear and unstable system. Therefore, it is widely used as benchmark for illustrating control concepts, theories, and algorithms that deal with these challenges. The main motivations of this paper are designing controllers that deal with lack of information that accompanying an inexpensive cheap TWIP and verified its stability, proper speed, robustness and smooth tracking. Consequently, intelligent technique instead of conventional ones that depends on mathematical models should be used. In this article hybrid controllers, consisting of fuzzy controllers and three mode controllers’ (PID), are developed. Two major techniques are used, Mamdani-Like Fuzzy and Fusion-Based function, to design five controllers. Moreover, dynamic indices and steady state indices are implemented to choose the most proper controllers among various designed ones. A new criterion is defined to measure steady state performance of oscillation. All controllers were tested in real-time to control the angle of the TWIP for stability and disturbance rejection. The experimental results showed that both strategies of Mamdani-Like Fuzzy and Fusion-Based fuzzy can control and balance adequately the TWIP, but the PD-Like fuzzy yielded more better performance.