Balance Controller with Fuzzy Logic for Self-Balancing Two-Wheel Electric Scooter

Andik Yulianto, Rizki Kasmuda


This paper presents the design of self-balancing electric scooters, especially those that use two wheels. Scooter with two wheels cannot stand in balance without a control of speed and direction on both wheels. Two-wheel scooter balance is also a non-linear problem which is quite difficult to solve. For this reason, the Fuzzy Logic Controller (FLC) is designed to control the balance of the two-wheeled scooter. As an input parameter for the FLC control, an accelerometer sensor is used which can detect the elevation angle of the scooter to the ground. FLC is designed using twenty-five rules. The test results show that the scooter can maintain its balance between elevation angles of -30° to 30°.


Self-balancing, Two-wheels electric scooter, Balancing Control, Fuzzy Logic Controller

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