Semi-Adaptive Control Systems on Self-Balancing Robot using Artificial Neural Networks

Abstract

A self-balancing type of robot works on the principle of maintaining the balance of the load's position to remains in the center. As a consequence of this principle, the driver can go forward reverse the vehicle by leaning in a particular direction. One of the factors affecting the control model is the weight of the driver. A control system that has been designed will not be able to balance the system if the driver using the vehicle exceeds or less than the predetermined weight value. The main objective of the study is to develop a semi-adaptive control system by implementing an Artificial Neural Network (ANN) algorithm that can estimate the driver's weight and use this information to reset the gain used in the control system. The experimental results show that the Artificial Neural Network can be used to estimate the weight of the driver's body by using 50-ms-duration of tilt sensor data to categorize into three defined classes that have been set. The ANN algorithm provides a high accuracy given by the results of the confusion matrix and the precision calculations, which show 99%.