T-S adaptive neural network fuzzy control applied in two-wheeled self-balancing robot

Abstract

This paper regarded Two-wheeled self-balancing robot of Googol Technology Limited as the object of study, corresponding built an exact mathematic model and got system state space equation and its decouple after linearization the model with reasonable methods. At the end, T-S Adaptive neural network fuzzy controller was designed and simulated to obtain the ideal simulation curve. The results show that this adaptive neural network fuzzy controller achieved the desired good results with good dynamic performance and stability.