BP Neural Network for Mobile Robot Self-Tuning PID Controller Design

摘要

Establish the attitude model for self-designed mobile robot, According to the characteristics of nonlinear, unstable, using BP neural network method to achieve self-tuning PID parameters to make optimal parameters of the PID controller. Stabilization control of two-wheeled self-balanced robots at the same time, decrease the overshoot of the system and the number of shocks. Simulation experiments show that: Using BP neural network self-tuning PID controller improves system stability, effectiveness has been well controlled, with high practical value