Design and development of an intelligent controller for a pole-balancing robot |
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Authors: | Meng Joo Bak Heng Chee Chong |
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Affiliation: | School of Electrical and Electronic Engineering, Nanyang Technological University, Block S1, Nanyang Avenue, Singapore, Singapore 639798 |
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Abstract: | In this paper, an intelligent controller capable of static balancing as well as dynamic balancing of a pole mounted on a motorized robot is designed and developed. The brain of the intelligent controller lies in the Fuzzy Inference System, which receives as its input displacement, velocity and acceleration information. An embedded instrumentation system onboard the robot measures the displacement of the robot and the angle of inclination of the pole from the vertical position. For static balancing, the controller needs to maintain the pole in an upright position while the robot is free to move on a flat surface. For dynamic balancing, the robot needs to balance the pole while performing transitions up and down a ramp. Furthermore, the robot needs to steer itself back to the center to prevent it from falling off the ramp. |
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Keywords: | Micro-controller Fuzzy inference system Pole-balancing robot |
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