Dual-loop adaptive decoupling control for single wheeled robot: Based on Neural PID controller

This paper proposes a dual-loop adaptive decoupling control method based on single neuron PID controller (DADC-SNPID), balancing the single wheeled robot. A unique mechanical and control hardware structure of single wheeled robot is designed and its simplified mathematical model is established using the Newton-Euler equations according to the actual parameters of the designed robot. A new balance and motion control method is proposed as dual-loop adaptive decoupling control method based on single neuron PID controller to control the robot. Results of simulation and physical experiments are conducted to illustrate effectiveness of the designed robot system and its controller under certain conditions.