Fuzzy Backstepping Controllers for Two-Wheeled Self-Balancing Robot

Abstract

A two-loop cascade adaptive controller is proposed for a non-stable, non-linear, strong coupling system using backstepping and fuzzy neural network (FNN). The proposed approach uses fuzzy neural networks to approximate unknown nonlinear function. Then, use backstepping to design adaptive controller to realize self-balancing control of robot. The simulation results indicate that both speediness and stability performance in robot is improved, and there is well control performance in trouble.

A PID backstepping controller for two-wheeled self-balancing robot

“…B. Backstepping Controller Design [4], [5 ], [6] Step la: Defme a tracking error as el = x l re ! -X l where x l re !…”

“…In recent years, the number of researches on backstepping control have increased [4], [5], [6]. The backstepping approach provides a powerful design tool for nonlinear system in the pure feedback and strict feedback forms.…”

A torque-controlled humanoid robot riding on a two-wheeled mobile platform

“…At the same year, Segway TM Personal Transporter was brought to market as a new mobile platform for human transporting [2]. Different control methods were proposed to improve its performance [4]- [6].…”

Hybrid PD and adaptive backstepping control for self-balancing two-wheel electric scooter

“…Up to now, some research results published on the world about a self-balancing two-wheel robot (a small and compact robot model, can't transport people) focused on the following issues. The modeling and identification of a self-balancing two-wheel robot is investigated in [4,7,10,11,14]. The control problem of a self-balancing two-wheel robot, based on the linear control methods, is presented in [7,11].…”