Adaptive Point Stabilization Control of Two-wheel Robot with Parameter Uncertainties Based on Human-simulated Intelligent Backstepping Method

Aiming at the real-time optimization problems of two-wheeled robot point stabilization control with uncertain parameters, the adaptive control method based on Human-simulated Intelligence Backstepping(HSIB) control is proposed. A three-layer control structure is constructed by this method, The top layer is an intelligent decision layer that is designed based on multi-mode human-simulated intelligence. The middle layer is a backstepping adaptive current control layer designed on the basis of the dynamic model. The bottom layer is the motor actuator system. The control structure realizes the point-stabilization adaptive control of two-wheel mobile robot under uncertainty of system parameters. Through simulation and experiment, the control method proposed in this paper is compared with the conventional multi-mode human-simulated intelligent control method, and the validity of the method is proved.