Angle Compensation by Fuzzy Logic for Balancing a Single-wheel Mobile Robot

A single-wheel mobile robot called GYROBO has been developed for many years to test the balancing control performance. Control of a single-wheel mobile robot is quite challenging so that many problems occurred during the control operation have to be solved. One of typical problems for the robot is to regulate the angle of the gimbal system not to lean one direction all the way. Eventually, this results in GYROBO's falling down. To remedy the leaning problem, fuzzy logic is employed to generate appropriate offset angle values so as not to lean against one direction. Experimental studies of balancing GYROBO are conducted and confirm the balancing performance without falling.