Indirect Adaptive Fuzzy Controller for LEGO Mindstorms NXT Two- wheeled Robot

摘要

An indirect adaptive fuzzy controller is proposed to control the LEGO Mindstorms NXT Two-Wheeled robot in this paper. The dynamical model of the robot, LEGO Mindstorms NXT, is derived from Lagrange of kinetic and potential energies. Based on the developed model, two fuzzy systems are first used to approximate the grey functions in the developed model, and then the adap- tive fuzzy controller is designed. Adaptation laws for the above fuzzy systems are derived from the Lyapunov stability analysis. According to the stability analysis, the developed control system guar- antees that the system tracking performance and the error convergence can be assured in the closed- loop system. Finally, we apply the proposed fuzzy controller to balance the LEGO Mindstorms NXT two-wheeled robot.