Simplified partial state fuzzy-PID control on nonlinear wheel balancing robot

This paper deals with the Fuzzy-PID control on Nonlinear Wheel Balancing Robot. A simplified T-S Fuzzy-PID scheme that will be based on the signed distance method has been proposed. Simplification process of 'conventional' Fuzzy-PID to 'simplified' Fuzzy-PID scheme through 3D vector projection was demonstrated. Without reducing the performance of conventional Fuzzy-PID control, the number of fuzzy rules was greatly reduced, which eventually minimized the computational burden of the processor. Besides, the proposed controller ensures the control energy was within permissible limit and it also eliminates the effects of nonlinearity when the system was only controlled by PID controllers. Finally, the performance of proposed controller is compared to the performance of conservative Fuzzy-PID and PID schemes via simulation