Fuzzy Backstepping Controllers for Two-Wheeled Self-Balancing Robot

Author

Ruan, Xiaogang ; Cai, Jianxian

Author_Institution

Inst. of Artificial Intell. & Robot., Beijing Univ. of Technol., Beijing

fYear

2009

fDate

1-2 Feb. 2009

Firstpage

166

Lastpage

169

Abstract

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.

Keywords

adaptive control; cascade control; fuzzy control; fuzzy neural nets; mobile robots; neurocontrollers; stability; FNN; fuzzy backstepping controllers; fuzzy neural network; stability; two-loop cascade adaptive controller; two-wheeled self-balancing robot; Backstepping; Control systems; Fuzzy control; Fuzzy neural networks; Intelligent robots; Mobile robots; Nonlinear control systems; Programmable control; Robot control; Sliding mode control; Backstepping; fuzzy neural networks; self-balancing control; two-wheeled robot;

fLanguage

English

Publisher

ieee

Conference_Titel

Informatics in Control, Automation and Robotics, 2009. CAR '09. International Asia Conference on

Conference_Location

Bangkok

Print_ISBN

978-1-4244-3331-5

Type

conf

DOI

10.1109/CAR.2009.42

Filename

4777218