Adaptive Neural Network Control of a Self-Balancing Two-Wheeled Scooter

This paper presents an adaptive control using radial-basis-function neural networks (RBFNNs) for a two-wheeled self-balancing scooter. A mechatronic system structure of the scooter driven by two dc motors is briefly described, and its mathematical modeling incorporating two frictions between the wheels and the motion surface is derived. By decomposing the overall system into two subsystems (yaw motion and mobile inverted pendulum), one proposes two adaptive controllers using RBFNN to achieve self-balancing and yaw control. The performance and merit of the proposed adaptive controllers are exemplified by conducting several simulations and experiments on a two-wheeled self-balancing scooter.