Using DNN‐Compensator Coupling PD‐Controller Strategy Control Two‐Wheeled Robots Upright Motion Balance

ABSTRACT Aiming at the problem that the two‐wheeled mobile self‐balancing robot (TWMSR) is challenging to control balance when TWMSR drives on uneven surface road, this study adds a DNN‐compensator specially used to curb the TWMSR's toppling based on the traditional PID motion balance control system. A coupling function couples the control value between the PD‐controller and the DNN‐compensator. Its effect is that when the PD‐controller's output value is insufficient to maintain the TWMSR's balance, the DNN‐compensator will compensate the PD‐controller's output. The experimental results show that using our DNN‐compensator coupling PD‐controller balance control strategy to control the TWMSR movement on uneven surface road can maintain the TWMSR drive stability; compared to traditional PD‐controller, our control strategy braking performance is better, and the pitch angle () fluctuation range is smaller, TWMSR topple over is difficult.