Design of a Self-balancing Ballbot Based on Fuzzy Logic

Abstract

A self-balancing ballbot refers to a robot capable of adjusting its own balance by itself. It originates from an inverted pendulum model and is a typical multivariable underactuated system. A controller based on fuzzy logic was proposed for the non-linear, highly coupled and unstable characteristics of the self-balancing ballbot. Firstly, the three-dimensional complex dynamic model of the robot was simplified into a two-dimensional dynamic model with three independent planes, and the Lagrange plane dynamic equation is established. The accurate dynamic model of the robot can be obtained via incorporating the dynamics of the driving motor into the robot dynamic equation. Secondly, the fuzzy logic controller was designed according to the plane dynamic equation, and the simulation model of the control system is established in Simulink. Finally, the tracking simulation of the linear trajectory and circular trajectory was performed on the control system model. Simulation results showed that this controller had a favorable tracking effect on both linear trajectory and nonlinear trajectory.