Development of Auto-Balance System

Abstract

In recent years mobile robots has attracted fair amount of attention of the researchers. These robots have a lot of functionality and applications. As the functions of the robot increases the complexity into the designing of such robots increases. One of such mobile robots that are most commonly used nowadays are auto balancing robots or commercially known as Segway. These robots can be single wheeled or double wheeled. There are wide applications of such robots from military to space exploration to general purpose. The implementation of control system for auto balance robot researchers are using different control algorithm starting from simple PID control algorithm to complex neuro-fuzzy algorithm, the type of algorithm would mainly depend on the amount of control and precision required by the application of the robot. As such system is inherently non-linear , the system has to be linearized to implement controller for auto-balancing robot. There are many alternative for implementation of control algorithm for auto balancing robot, the purpose of this project is to develop a neuro-fuzzy fractional order control algorithm for the auto-balance robot.