YAFT: A fuzzy logic based real time two-wheeled inverted pendulum robot

Salih Ertug Ovur, Fethi Candan, Aykut Beke, Tufan Kumbasar

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

1 Citation (Scopus)

Abstract

This paper presents the mechanical design of a custom built two wheeled inverted pendulum, named as YAFT, and an intelligent control system structure to solve its control problems. YAFT is equipped with various sensors, from IMU to camera, and processing units, from STM to Raspberry PI, that give the opportunity to deploy YAFT in telepresence, cognitive robotic and human-machine applications. As we have preferred to use low-cost market components, we perform a deflection analysis to show that YAFT has a rigid body frame and then derive its dynamical model. We propose also an intelligent control structure that is capable to handle the real-world uncertainties resulted from low-cost components. The proposed intelligent control structure takes up and merges the frameworks control theory, fuzzy logic and sensor fusion in order to solve the stabilization and position control problems of YAFT. Comparative experimental results are presented to illustrate the effectiveness of the proposed control structures on the YAFT in real-time.

Original languageEnglish
Title of host publication2018 6th International Conference on Control Engineering and Information Technology, CEIT 2018
EditorsSeref Naci Engin, Dogan Onur Arisoy, Muhammed Ali Oz
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781538676417
DOIs
Publication statusPublished - Oct 2018
Event6th International Conference on Control Engineering and Information Technology, CEIT 2018 - Istanbul, Turkey
Duration: 25 Oct 201827 Oct 2018

Publication series

Name2018 6th International Conference on Control Engineering and Information Technology, CEIT 2018

Conference

Conference6th International Conference on Control Engineering and Information Technology, CEIT 2018
Country/TerritoryTurkey
CityIstanbul
Period25/10/1827/10/18

Bibliographical note

Publisher Copyright:
© 2018 IEEE.

Keywords

  • Fuzzy Logic
  • Intelligent Control System
  • Real-time Control
  • Sensor Fusion
  • Two-wheeled Inverted Pendulum

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