주행형 역진자 시스템의 제어를 위한 퍼지 논리 기반의 비선형성 보상방법

In this paper, a control method for a wheeled inverted pendulum system is proposed based on fuzzy logic. The wheeled inverted pendulum system estimates the inclination by processing inertial sensor measurements. For stability, the controller regards the inclination as an error and determines a control signal to reduce the error using PID control. While performance is highly dependent on the precision of the actuator, a large non-linearity inherent in the actuator is observed in practice, which deteriorates performance and stability. For this reason, we utilized the fuzzy logic to compensate for the non-linearity and to enhance robust stability of the wheeled inverted pendulum. The proposed method adaptively scales the calculated control signal to reject the non-linearity.