Multiple rules cloud controller in balance system of wheeled robots
Pan He-xin · Computer Engineering and Applications Journal · 2011
A novel design method of one-dimensional cloud controller based on single-chip microcomputer is proposed.The method is applied to implement the dynamic headstand balance control for wheeled robots.Features between cloud model controllers using three rules and five rules are compared.The experiments show that the proposed controller,which is close to the human behaviors with five rules,achieves good control performance and robustness in headstand state.It is helpful for the controller design using rules-based cloud model.