Adaptive Fuzzy Control of an Electrical Single-Wheel Robot

In this paper، a novel adaptive fuzzy control design for a four degrees of freedom single-wheel robot including its electric motors is presented. Another novelty of this paper is to derive a novel model for this robot for using voltage control strategy in the control design. The dynamics of motion is described as a nonlinear multivariable system with couplings between inputs and outputs. Similar to an inverse pendulum، the single-wheeled robot is in the instable equilibrium point. In addition، number of actuators of robot are less than the degrees of freedom of robot. The control design becomes so important due to this complexity. Based on the derived model in this research، a novel feedback linearization controller by using torque control strategy is designed. Then، a novel indirect adaptive fuzzy controller in voltage control strategy is designed. The stability is guaranteed in the presence of uncertainties. The stability of equilibrium point is analyzed by direct method of Lyapunov. Simulation results show the effectiveness of controllers to keep the balance and stability of the single-wheel robot.