Implement Sugeno Fuzzy Rules for Adaptive Controller on a Two-wheels Self-balancing Robot (TWSR)
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Set the input signal
Approximate the model to
Conduct the simulation with the PID controller, and inject a noisy pulse to test the stability of the system
It results in a very good performance!
Let
The simulation results are excellent For x:
For Theta:
For Psi:
The results are comparable to the simulation.
For x:
For Theta:
For Psi: