{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,28]],"date-time":"2026-02-28T16:01:38Z","timestamp":1772294498206,"version":"3.50.1"},"reference-count":16,"publisher":"Emerald","issue":"3","license":[{"start":{"date-parts":[[2011,5,3]],"date-time":"2011-05-03T00:00:00Z","timestamp":1304380800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2011,5,3]]},"abstract":"<jats:sec><jats:title content-type=\"abstract-heading\">Purpose<\/jats:title><jats:p>The purpose of this paper is to introduce a high load capacity coaxial couple wheeled robot (CCWR) and investigate a simple structure but effective fuzzy equilibrium controller based on (Takagi\u2010Sugeno) T\u2010S for balance control in wide\u2010angle range.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Design\/methodology\/approach<\/jats:title><jats:p>By selecting the robot inclination angle and angular rate as input variables and the DC motors' rotation speed as output variables, a T\u2010S fuzzy controller (FC) is established.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Findings<\/jats:title><jats:p>Simplified robot dynamic equilibrium equations are feasible; the robot balance in wide\u2010angle range could be controlled by the T\u2010S FC. Despite the existence of small vibrations near the equilibrium position, the system can return to equilibrium within 3\u2009s, showing strong robustness.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Practical implications<\/jats:title><jats:p>The robot can achieve self\u2010balance and pivot around, moreover, it provides a new way for balance control of CCWR in wide\u2010angle range. And at the same time, the robot can achieve its work in semi\u2010autonomous and tele\u2010operated mode.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Originality\/value<\/jats:title><jats:p>The paper shows that designing the controller based on static analysis is feasible; simple structure T\u2010S fuzzy control way is introduced to balance control for CCWR in a wide angle scale; the development target is to provide a kind of robot platform for testing control algorithms or a personal transporter, and the project is supported by the High Technology Research and Development Program of China.<\/jats:p><\/jats:sec>","DOI":"10.1108\/01439911111122798","type":"journal-article","created":{"date-parts":[[2011,5,21]],"date-time":"2011-05-21T08:00:45Z","timestamp":1305964845000},"page":"292-300","source":"Crossref","is-referenced-by-count":16,"title":["A coaxial couple wheeled robot with T\u2010S fuzzy equilibrium control"],"prefix":"10.1108","volume":"38","author":[{"given":"Chaoquan","family":"Li","sequence":"first","affiliation":[]},{"given":"Xueshan","family":"Gao","sequence":"additional","affiliation":[]},{"given":"Qiang","family":"Huang","sequence":"additional","affiliation":[]},{"given":"Fuquan","family":"Dai","sequence":"additional","affiliation":[]},{"given":"Jie","family":"Shao","sequence":"additional","affiliation":[]},{"given":"Yang","family":"Bai","sequence":"additional","affiliation":[]},{"given":"Kejie","family":"Li","sequence":"additional","affiliation":[]}],"member":"140","reference":[{"key":"key2022020320415704600_b16","unstructured":"Anderson, D.P. 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