A Fuzzy-PD Controller for A Low-Cost Two-Wheeled Self-Balancing Robot

—This paper introduces a novel Fuzzy-PD controller architecture designed for two-wheeled self-balancing robots (TWSBRs), tackling challenges posed by external disturbances and model uncertainties. Based-on lookup table (LT) method, a strategy to implement Fuzzy-PD controller on low-cost embedded systems such as Arduino has been presented. The controller is thoroughly validated through both simulation and real-time experiments, showing significant improvements over conventional PID controllers in control accuracy, disturbance rejection, and smooth operation. These findings confirm the effectiveness of the proposed method for resource-limited robotic systems.