Bài báo khoa học

In the cases of designing fuzzy control systems, tuning and optimizing fuzzy controllers are challenging problems. This work proposes an optimal fuzzy system to control the operations of two-wheeled balancing mobile robots (2WBMRs). The proposed control system is designed with a combination of three control loops using three different fuzzy controllers. The first loop is used for position control, the second loop for balance control and the third control loop for the direction of the 2WBMR. The proposed fuzzy controllers are designed based on relational models and optimized to obtain the best performances. The designed fuzzy controllers using the optimal membership functions for the output linguistic variables with the shapes are determined by the cross-entropy optimization method. The designed fuzzy controllers are tested and evaluated by a real-time system using the STM32F4 microcontroller. The analytical and simulation results in the real-time system for the 2WBMR have shown the efficiency of the proposed control process. The optimal fuzzy controllers are highly effective to control the translational and rotational motion of the body, which is also successfully implemented using a hardware model.