Fuzzy Logic Control for Balancing a Two-Armed Inverted Pendulum

  • Boutaina EL Kinany Sidi Mohammed Ben Abdellah University, Fez, Morocco
  • Mohamed Alfidi Sidi Mohammed Ben Abdellah University, Fez, Morocco
  • Zakaria Chalh Sidi Mohammed Ben Abdellah University, Fez, Morocco
Keywords: Stability, Fuzzy logic, Lagrangian, Inverted pendulum


The unicycle robot is an activated model with only one wheel, which ensures its safety. Researchers were particularly interested in the unicycle robot because of its great robustness, which allows it to travel around without colliding with the ground. The inverted pendulum having two arms is modelled using a mathematical representation based on the Lagrangian formulation in this work, which embodies our concept of the unicycle robot. The fuzzy logic control algorithm will then be used to produce a high level of solidity for this system.


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How to Cite
EL Kinany, B., Mohamed Alfidi, & Zakaria Chalh. (2023). Fuzzy Logic Control for Balancing a Two-Armed Inverted Pendulum. Statistics, Optimization & Information Computing, 11(1), 136-142. https://doi.org/10.19139/soic-2310-5070-1548
Research Articles