Fuzzy Backstepping Controllers for Two-Wheeled Self-Balancing Robot

A two-loop cascade adaptive controller is proposed for a non-stable, non-linear, strong coupling system using backstepping and fuzzy neural network. 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.