On-line NNAC for Two-Wheeled Self-Balancing Robot Based on Feedback-Error-Learning

A method based on cerebellar model with feedback-error-learning was proposed to control a two-wheeled self-balancing robot. The forward controller which is an on-line neural network adaptive controller is corresponding with cerebellar and expresses the function of cerebellum in balancing control problem. The robot is a kind of MIMO system, so the cerebellar cortex part has two nerve cell output. From the simulation, we can see that the robot can be balanced in fixed position well by this method, and can improve the feedback control to some extent. It is a kind of bionic control method which imitates the cerebellum part of brain.