Abstract
Two-wheeled self-balancing vehicle commercially known as “Segway” is a promising upcoming mode of transportation in many fields viz. corporate worlds, tourist place, medical field, or for personal use. In this paper, a control strategy and sensor-based control of two-wheeled self-balancing vehicle is proposed. The concept of the stabilizing the vehicle is inspired from the inverse pendulum theory. Based on steady-state space mathematical model, the entire system control is divided into two subsystems: self-balance control system (forward or backward motion balancing) and yaw control system (left or right movement). The control strategy used is fuzzy logic and is applied to both subsystems. A prototype model of the self-balancing vehicle is developed and the proposed mathematical model and control logic are verified by testing on the developed prototype.
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Babu, S.S., Pillai, A.S. (2016). Design and Implementation of Two-Wheeled Self-Balancing Vehicle Using Accelerometer and Fuzzy Logic. In: Satapathy, S., Raju, K., Mandal, J., Bhateja, V. (eds) Proceedings of the Second International Conference on Computer and Communication Technologies. Advances in Intelligent Systems and Computing, vol 381. Springer, New Delhi. https://doi.org/10.1007/978-81-322-2526-3_6
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DOI: https://doi.org/10.1007/978-81-322-2526-3_6
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