LQR-Mapped Fuzzy Controller Applied to Attitude Stabilization of a Power-Aided-Unicycle

  • Ping-Ho Chen
  • Wei-Hsiu Hsu
  • Ding-Shinan Fong
Conference paper
Part of the IFIP Advances in Information and Communication Technology book series (IFIPAICT, volume 364)


Analysis of attitude stabilization of a power-aided unicycle points out that a unicycle behaves like an inverted pendulum subject to power constraint. An LQR-mapped fuzzy controller is introduced to solve this nonlinear issue by mapping LQR control reversely through least square and Sugeno-type fuzzy inference. The fuzzy rule surface after mapping remains optimal.


LQR Fuzzy Inverted pendulum Unicycle Stabilization 


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Copyright information

© IFIP International Federation for Information Processing 2011

Authors and Affiliations

  • Ping-Ho Chen
    • 1
  • Wei-Hsiu Hsu
    • 1
  • Ding-Shinan Fong
    • 1
  1. 1.Department of Electrical EngineeringTungnan UniversityTaiwan

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