Dual-Loop Adaptive Control for Single-Wheeled Self-Balancing Robot Based on Single Neuron Controller

A dual-loop and single-neuron-based (DLSN) adaptive control method is proposed for single-wheeled self-balancing robot with a vertical wheel. According to the analysis of the dynamics model of single-wheeled robot, the single-wheeled self-balancing robot is divided into two subsystems. A dual-loop adaptive control structure is proposed which has roll tilt inner control loop, pitch tilt inner control loop and forward shifting outer control loop. Every control loop is composed of adaptive single neuron controllers. The simulation experiments are conducted to illustrate the effectiveness of the DLSN adaptive control method.