| Summary: | 碩士 === 元智大學 === 電機工程學系 === 99 === This thesis proposes an Proportional Fuzzy Controller (PFC) for two-wheeled vehicle control problem. The main purpose of this paper is to develop a self-balancing and motion control strategy. In this thesis, the sensors tilt and gyro are used to measure the two-wheeled vehicle angle and the angular velocity. In addition, the encoder is used to measure the two-wheeled vehicle position and velocity. The real-time two-wheeled vehicle information is selected for the inputs of controller. Finally, the two-wheeled vehicle achieves self-balance, position fixing, going forward and backward, making a turn, climbing up, stopping and something on experimental results. Experimental results show that the proposed Proportional fuzzy control strategy can control the whole system very well.
|
|---|
