|Sampled-data Fuzzy Control of Two-wheel Inverted Pendulums Based on Passivity Theory
Rongjun Liu, Junfeng Wu*, and Dan Wang
International Journal of Control, Automation, and Systems, vol. 16, no. 5, pp.2538-2548, 2018
Abstract : "In this paper, an aperiodically sampled-data control scheme is detailed for the two-wheel inverted pendulum
using Takagi-Sugeno (T-S) fuzzy models. The passivity theory is applied in the presence of the disturbances
in the actuator channel. A two-rule fuzzy model is utilized to represent the two-wheel inverted pendulum. By using
the pendulum angle as the antecedent variable of the fuzzy rule, a passive sampled-data controller is established
using the pendulum inclination angle and the mean value of the rim motors’ rotary angles. A Lyapunov-like function
based on the two fuzzy rules is constructed to develop criteria of passivity, by the utilization of very-strict
passivity in terms of the pendulum angle. Then a solution to the gains of sampled-data controller is synthesized
to ensure the very-strict passivity of the pendulum system. By the illustrative examples, the effectiveness of the
variable-sampling control scheme is validated for the two-wheel inverted pendulum."
Passivity analysis, sampled-data control, T-S fuzzy model, two-wheel inverted pendulum.