Designing an adaptive controller for two wheeled self balancing mobile robot using hierarchical sliding control strategy and radial basis function neural network
Designing an adaptive controller for two wheeled self balancing mobile robot using hierarchical sliding control strategy and radial basis function neural network
This paper presents a novel adaptive controller for two-wheeled selfbalancing mobile robots combining sliding mode control and hierarchical sliding control techniques. In addition, the radial basis function neural networks (RBFNN) are also applied to approximate the uncertain components in the system.