Mohammad Jafarinasab - Master student, Isfahan University of Technology
Hamid Azizan - Master student, Isfahan University of Technology
Mohammad Danesh - Assistant professor, Isfahan University of Technology
Saeed Behbahani۴ - ۴Assistant professor, Isfahan University of Technology

This paper focuses on the development of a vehicle based on the stabilization of an inverted pendulum. The fuzzy system is introduced to improve the sense of intelligence in the system. This fuzzy system defines the desired velocity via the rider’s inclination. As the direct controller, the paper presents a nonlinear modeling and control based on the parallel distributed compensation (PDC) method, where feedback control gains areoptimally calculated by the LQR method. To show the efficiency of our proposed approach, simulations are done on the nonlinear model of the system.

Wheeled inverted pendulum, Fuzzy, PDCcontroller, Segway