Fuzzy logic controller for two wheeled EV3 LEGO robot

• Main Authors: M. A., Akmal, Nurul Fadzlina, Jamin, Normaniha, Abd Ghani
• Format: Conference or Workshop Item
• Language: English
• Published: IEEE 2018
• Subjects: TK Electrical engineering. Electronics Nuclear engineering
• Online Access: http://umpir.ump.edu.my/id/eprint/23179/1/Fuzzy%20logic%20controller%20for%20two%20wheeled%20EV3%20LEGO%20robot.pdf; http://umpir.ump.edu.my/id/eprint/23179/; https://doi.org/10.1109/SPC.2017.8313035
• Institution: Universiti Malaysia Pahang Al-Sultan Abdullah

The unstable nature of a two-wheeled inverted pendulum system has raised attention many researchers to approach various controllers that can stabilize the system. Most researchers used Arduino and NXT LEGO robot as a platform to analyze the performance of the proposed controller. In this project, fuzzy logic controller is used as a controller to stabilize the two wheeled EV3 LEGO robot through Simulink-Matlab simulation. The dynamic modelling of the system is derived using Euler-Lagrange method. Based on the proposed controller, the analysis of the simulation results show that the system achieves zero degree of tilt angle in less than 2 seconds. Various membership function of Fuzzy Logic control are tested and analyzed. The simulation results indicate that fuzzy logic controller can stabilize the two wheeled EV3 LEGO robot effectively.