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Mathematical Problems in Engineering
Volume 2012 (2012), Article ID 469491, 13 pages
Research Article

A Two-Wheeled Self-Balancing Robot with the Fuzzy PD Control Method

1College of Automation, Harbin University of Science and Technology, Harbin 150080, China
2Qingdao Haier AIC Elec Corp., Ltd., Qingdao Haier Co., Ltd., Qingdao 266101, China

Received 19 September 2012; Revised 27 October 2012; Accepted 30 October 2012

Academic Editor: Peng Shi

Copyright © 2012 Junfeng Wu et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


A two-wheeled self-balancing robot with a fuzzy PD control method is described and analyzed as an example of a high-order, multiple-variable, nonlinear, strong-coupling, and unstable system. Based on a system structure model, a kinetic equation is constructed using Newtonian dynamics and mechanics. After a number of simulation experiments, we get the best , , and state-feedback matrices. Then a fuzzy PD controller is designed for which the position and speed of the robot are inputs and for which the angle and angle rate of the robot are controlled by a PD controller. Finally, this paper describes a real-time control platform for the two-wheeled self-balancing robot that controls the robot effectively, after some parameter debugging. The result indicates that the fuzzy PD control algorithm can successfully achieve self-balanced control of the two-wheeled robot and prevent the robot from falling.