Abstract
The fuzzy immune PD controller is designed in view of the nonlinear and model uncertainty characteristics of the two-wheeled and self-balancing robot, and the simulation study is carried out. The simulation results show that the designed control system has the advantages of small overshoot amount, short adjustment time and strong anti-jamming capability compared with the conventional fuzzy PD controller. It is suitable for the balance of the robot control system whose mathematical model is difficult to determine and when the parameter changes.
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