A fuzzy compensation technique for cooperative control between two actuations of an one-wheel robot

摘要

In this paper, a fuzzy compensation (FC) technique along with the on-line system identification of two actuator systems of a one-wheel robot. Recursive least square (RLS) algorithm is used to identify the system with FIR-typed moving average filters for both a gimbal and a body system. To compensate for uncertainties in the modeling process, a fuzzy compensator is designed. Experimental studies of balancing a one-wheel robot are conducted. Performances by different control schemes, FC without RLS and FC with RLS are compared.