Adaptive intelligent systems applied to two-wheeled robot

Abstract

This work discuss two different intelligent controllers: Online Neuro Fuzzy Controller (ONFC) and Proportional-Integral-Derivative Neural Network (PID-NN). They were applied to maintain the equilibrium and to control the position of a two-wheeled robot prototype. Experiments were carried out to investigate the equilibrium control of the two-wheeled robot on a flat terrain and to observe the intrinsic performance in the lack of external disturbances. The effectiveness of each controller was verified by experimental results, and the performance was compared with conventional PID control scheme applied for the prototype.