Research Article

International Journal of Advanced

Robotic Systems
March-April 2017: 19
Adaptive control of two-wheeled mobile The Author(s) 2017
DOI: 10.1177/1729881417700893
balance robot capable to adapt different journals.sagepub.com/home/arx

surfaces using a novel artificial neural

networkbased real-time switching
dynamic controller

Ali Unluturk and Omer Aydogdu

Abstract
In this article, a novel real-time artificial neural networkbased adaptable switching dynamic controller is developed and
practically implemented. It will be used for real-time control of two-wheeled balance robot which can balance itself upright
position on different surfaces. In order to examine the efficiency of the proposed controller, a two-wheeled mobile balance
robot is designed and a test platform for experimental setup is made for balance problem on different surfaces. In a developed
adaptive controller algorithm which is capable to adapt different surfaces, mean absolute target angle deviation error, mean
absolute target displacement deviation error and mean absolute controller output data are employed for surface estimation by
using artificial neural network. In a designed two-wheeled mobile balance robot system, robot tilt angle is estimated via Kalman
filter from accelerometer and gyroscope sensor signals. Furthermore, a visual robot control interface is developed in C
software development environment so that robot controller parameters can be changed as desired. In addition, robot balance
angle, linear displacement and controller output can be observed online on personal computer. According to the real-time
experimental results, the proposed novel type controller gives more effective results than the classic ones.

Keywords
Adaptive switching controller, ANN-based surface estimation, sensor fusion, two-wheeled mobile balance robot

Date received: 29 November 2016; accepted: 14 February 2017

Topic: Mobile Robots and Multi-Robot Systems

Topic Editor: Nak-Young Chong
Associate Editor: Euntai Kim

Introduction have made research about various types of explorative

The studies in the field of robotics have enormously
advanced and improved nowadays. In parallel with this
improvement, robots make our lives easy in many fields
like industry, health, society, and so on.1 The capabilities of
many robots, used actively now, have advanced consider-
ably. The more they advance, the more they need for
energy. For that reason, in the last decade, many research-
ers have studied two-wheeled balance robots which need
less energy and have a very good manoeuvrability instead
of four-wheeled robots.2,3 Many researchers worldwide
two-wheeled mobile balance (TWMBR) which balances
itself, moves backward and forward turns right and left.4,5
Department of Electrical & Electronics Engineering, Faculty of Engineering,
Selcuk University, Konya, Turkey
Corresponding author:
Ali Unluturk, Department of Electrical & Electronics Engineering, Faculty
of Engineering, Selcuk University, Konya 42050, Turkey.
Email: aunluturk@selcuk.edu.tr

Creative Commons CC BY: This article is distributed under the terms of the Creative Commons Attribution 3.0 License
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open-access-at-sage).
2 International Journal of Advanced Robotic Systems
Figure 1. The structure of TWMBR: (a) front view, (b) top view, (c) side view and top view of TWMBR on the coordinate system.
TWMBR: two-wheeled mobile balance robot.
Many of these studies published are based upon simulation
results and theoretical analysis. Because of their non-linear
structure, that kind of system dynamics are rather complex
and their motion planning is very hard.6 However, many
researchers have built real-time TWMBR systems and
implemented their own control algorithms on those robot
systems. For example, they have developed a robot called
JOE in Industrial Electronic Laboratory in Sweden Federal
Technology Institute.7 Kuindersma et al. working for Per-
ceptual Robotic Laboratories have studied a humanoid U
Bot-5.8 National Aeronautics and Space Administrations
(NASAs) Robonaut, another two-wheeled robot, has been
made by Defense Advanced Research Projects Agency
(DARPA) with the cooperation of NASA.9 Cardea, devel-
oped by Massachusetts Institute of Technology, is another
sample of TWMBR.10 The two-wheeled vehicle called B2
has been designed as an alternative automatic commercial
transportation system.11 Numerous controller structures are
created for the control and balance of TWMBR systems
such as classical control,12 proportional integral-velocity
control,13 Fuzzy logic-based control,14 neural network con-
trol,3 sliding mode control4 and adaptive control.15
As seen in the literature studies above, most of the
studies about TWMBR have been made on flat and firm
grounds. In addition, Kim and Lee have developed
a magnet-wheeled mobile robot moving on curved
surfaces.16 Qiao et al. have proposed wheel-legged robot
with a front module, a rear module and an active waist
joint in order to make the robot pass through the curved
narrow channel.17
In this article, balance performance of the robot is
observed on loose surface such as sand, pebble and soil.
Besides, artificial neural network (ANN)-based real-time
switching dynamic controller, which is applied on the
robot to solve balance problem on such surfaces, is a
novel structure.
This article is organized as follows: The second sec-
tion describes structure of the TWMBR, the mobile
robot hardware components and the robot control inter-
face on personal computer (PC). The third section gives
the mathematical analysis for developed TWMBR sys-
tem. The fourth section describes dynamic surface esti-
mator on the control system and controller mechanism
of the robot system. The fifth section presents experi-
mental results of the balance robot, and the last section
gives the study results.
Structure of the TWMBR and the robot
control hardware
For TWMBRs mechanical design, an appropriate equili-
brium point must be tuned in order to control the robot
because of its non-linear structure. The hardware of the
robot was built regarding all the requirements. As shown
in Figure 1(a) and (b), the developed TWMBR has three
layers which make it lighter and has a good centre of
gravity. At the bottom layer, there are two identical per-
manent magnet DC motors coupled to a gearbox for each
wheel and with an integrated encoder. There is also micro-
electro-mechanical systems (MEMS)-based inertia mea-
surement unit sensor which contains gyroscope and
accelerometer together. Cortex M3 microprocessorbased
development board which controls all units of the robot
system and provides data communication by using Blue-
tooth wireless unit. In the middle layer, there is a DC
motor driver circuit which can control two identical DC
motors moving independently at the robot system. At the
top layer, there is a lithium polymer battery supplying
energy for the whole system. Figure 1(c) shows the side
view and top view of TWMBR on coordinate system for
mathematical analysis.
The general block diagram given in Figure 2(a) shows
the detailed hardware component of the developed
TWMBR control system. As shown in Figure 2(a), sensor
data are taken for the robot control on I2C data line by
Cortex M3 microprocessor. Furthermore, left and right
encoder data are taken on timer 1 and timer 2 input ports.
The robot control interface was designed in Visual C
software development environment for online control of
TWMBR remotely, for online change of all robot control
Unluturk and Aydogdu 3

Figure 2. (a) The general block diagram of TWMBR control hardware; (b) robot balance test platform. TWMBR: two-wheeled mobile
balance robot.

parameters and to observe and make sense of robots reac- Table 1. Physical parameters of TWMBR.
tion to different surfaces diagrammatically on PC by using
Symbol Description Unit
the wireless communication unit. Mathematical basis of
parameter adaptation algorithm was built with these online g Gravitational acceleration m/s2
data and performed real-time through the codes of Cortex m Wheel weight (for each of kg
M3 microprocessor. Many real-time experiments were wheel)
R Wheel radius m
done to enable robots stable balance on various surfaces
Jw mR 2 =2 Wheel inertia moment (one kg m2
by means of the designed user interface. wheel)
On the designed TWMBR control system, MEMS-based M Body weight kg
sensor groups were used, which include three-axis gyro- w Body width m
scope sensors and three-axis accelerometer sensors. The D Body depth m
information how we achieved sensor fusion and sensor H Body height m
calibration for TWMBR is given in detail in the work by L H=2 Distance of the centre of mass m
J ML 2 =3 Body pitch inertia moment kg m2
Guner et al.18 Additionally, designed robot balance test
J; Mw 2 D 2 =12 Body yaw inertia moment kg m2
platform is 70 cm  210 cm  4 cm of sizes. It was divided Jm DC motor inertia moment kg m2
into three parts and each part was filled with soil, pebble Rm DC motor resistance O
and sand as shown in Figure 2(b). Kb DC Motor back EMF constant Vs/rad
Kt DC motor torque constant Nm/A
Bm Rotating damper Nms/rad
Mathematical model of TWMBR system Lm DC motor inductance H
n N2 : N1 Gear ratio
Mathematical dynamic modelling of TWMBR is rather fm Friction between body and DC
important in terms of stability analysis and system simula- motor
tion. It is also very important that control algorithms are fw Friction between wheel and
created according to these model parameters. Many floor
researchers generally studying in the field of TWMBR TWMBR: two-wheeled mobile balance robot; Electromotive Force: EMF.
obtain the robots non-linear dynamic model by utilizing
the equations such as Lagrange-Euler or Newton-Euler. In
this article, TWMBR system is modelled based on
Lagrange-Euler equations referred as Yamamoto.19 Figure Lagrange method. If TWMBRs front becomes positive
1(c) shows coordinate system of side and top views of x-axis and t 0, balance equation for each coordinate will
TWMBR. In Figure 1(c), xb , yb , zb denote the systems be as given below
 
centre of gravity, xm , ym , zm denote the robot wheels centre 1 R
of gravity and l; r defines left and right wheel angle on the ; ;  l r ; r  l (1)
2 w
coordinate system. It is necessary to specify the robots
physical parameters very well to get the TWMBRs equa- where the robots right and left wheels mean angle is defined
tion of motion properly. Physical parameters of the applied by and body yaw angle by; . As shown in Figure 1(c), shaft
balance robot are given in Table 1. centre to which wheels are integrated (xm ; ym ; zm ), the posi-
Considering the coordinate system in Figure 1(c) and tion of left wheel (xl ; yl ; zl ) and right wheel (xr ; yr ; zr ) on
physical parameters of balance robot in Table 1, the coordinate system and robots bodyweight centre
TWMBRs equations of motion were derived by using (xb ; yb ; zb ) are expressed in equations (2) to (5), respectively
4 International Journal of Advanced Robotic Systems

Z Z 
Fr nKt ir fm _  _ r  fw _ r (15)
xm ; ym ; zm x_m dt; y_m dt; R ;
F nKt il  nKt ir  fm _  _ l  fm _  _ r (16)
x_m ; y_m R_ cos; ; R_ sin; (2)
  where il; r denotes left and right motor current and vl; r
w denotes left and right motor voltage. In the study, we will
xl ; yl ; zl xm  sin; ; ym cos; ; zm (3)
2 2 evaluate DC motor equation utilizing the relation between
 w w  il; r current and vl; r voltage. If we neglect the frictions
xr ; yr ; zr xm sin; ; ym  cos; ; zm (4)
2 2 inside the motor (Bm ) and motor inductance (Lm ), the DC
motor current will be as in equation (17)
xb ; yb ; zb
xm L sin cos; ; ym L sin sin; ; zm Lcos Vl; r Kb _  _ l; r
il; r (17)
Rm
(5)
Using equation (17), the generalized forces are
where denotes body tilt angle. The robots energy equa-
expressed as follows
tions can be defines as
1 1 F vl vr  2 fw _ 2_ (18)
T 1 mx_l2 y_l2 z_l2 mx_r2 y_r2 z_r2
2 2 F vl vr 2 _  2_ (19)
1
Mx_b2 y_b2 z_b2 (6) w w2
2 F; vr  vl  2  fw ;_ (20)
1 2 1 2 1 1 2 1 2R 2R
2
T2 Jw _ l Jw _ r J _ J;;_ n 2 Jm _ l 
_ 2
2 2 2 2 2 where  nK nKt Kb
Rm ;  Rm f m .
t

1 _ 2 As shown in the equations of motion above, the

n 2 Jm _ r 
2 motion dynamic of the system depends on surface struc-
(7) ture. In this study, it is shown with real-time application
results that controller parameters change on loose sur-
U mgzl mgzr Mgzb (8)
faces. State space expressions of TWMBR, developed
where T1 denotes translational kinetic energy, T 2 denotes according to sytem parameters, are presented in
rotational kinetic energy and U defines potential energy. Experimental results section.
Using kinetic energy equations, Lagrange function L has
the following expression
Design of adaptive dynamic controller for
L T1 T2  U (9) different surfaces
Using the Lagrange function, force components of , , ; It is rather hard for balance robot system to keep its balance
and for linearizing process in the equilibrium point of on two wheels and on all surfaces robustly and presents the
TWMBR, we consider the 0 sin ; cos 1 desired behaviour. It is necessary to design a dynamic con-
2
and neglect the second order term like _ 0. In this case, troller so that we can overcome the robots adaptation prob-
motion equations are defined approximately as follows: lem on different surfaces shown in Figure 2(b), and the
F 2m MR2 2Jw 2n2 Jm  MLR  2n2 Jm system behaviour can be more stable on all various
grounds. In this study, TWMBR is able to sense the surface
(10) autonomously by means of the proposed novel algorithm.
F MLR  2n 2 Jm ML 2 J 2n2 Jm  MgL Thus, it can update the optimal controller parameters
according to surface by virtue of ANN-based adaptive con-
(11)
troller. The proposed ANN-based adaptive switching con-
 
1 w2 troller structure is given in Figure 3.
F; mw 2 J; 2 Jw n 2 Jm ; (12) As shown in Figure 3, the system consists of multi-
2 2R
controller, ANN-based adaptation mechanism and sensor
Considering DC motor torque and viscose friction, gen- fusion blocks. In this figure, Target expresses target tilt
eralized forces are represented as in the following angle and X Target is target linear displacement. And also,
equations X Wheel is wheel displacement calculated as R. ^ is system
 w  output, y^1 t is estimator output and is surface switching
F ; F ; F; Fl Fr ; F ; Fr  Fl (13) function which can take the values 1, 2, 3. The general
2R
Proportional Integral Derivative (PID) controller structure
Fl nKt il fm _  _ l  fw _ l (14) used for the robot control is given in equation (21)
Unluturk and Aydogdu 5

Figure 3. TWMBRs block diagram of adaptive control with switching. TWMBR: two-wheeled mobile balance robot.

Figure 4. Change in (a) tilt angle, (b) linear displacement, (c) controller output on three floors.

Z where u t denotes control signal for different surfaces

det and et defines control error ( Target  . Fine tuning
u t Kp et Ki ed Kd ; 1; 2; 3
dt of the controller parameters is found by trial-and-error via
(21) robot control interface. The most sensitive PID parameters
6 International Journal of Advanced Robotic Systems

Figure 5. (a) MATADE-MATDDE-MACO data on three floor; (b) ANN model of TWMBR control system. MATADE: mean absolute
target angle deviation error ; -MATDDE: mean absolute target displacement deviation error; MACO: mean absolute controller output;
ANN: artificial neural network; TWMBR: two-wheeled mobile balance robot.

Table 2. ANN system output performance for HNN is 8.

LR 0.2 LR 0.4 LR 0.6 LR 0.8 LR 1 LR 1.2

Act. Func. HNN FN Performance Test Test Test Test Test Test
Tangent sigmoid 8 3 % Accuracy 94.87 95.40 95.13 94.67 94.40 94.20
Test period (sn) 0.0053 0.0055 0.0056 0.0072 0.0052 0.0105
Iteration 109 175 350 148 118 240
Logarithmic sigmoid 8 3 % Accuracy 95.93 95.80 96.07 95.73 95.80 95.73
Test period (sn) 0.0056 0.0062 0.0055 0.0059 0.0065 0.0059
Iteration 208 193 190 987 271 180
Purelin 8 3 % Accuracy 99.27 98.67 98.00 97.87 97.67 98.73
Test period (sn) 0.0055 0.0144 0.0062 0.0055 0.0058 0.0054
Iteration 106 228 180 331 233 175
ANN: artificial neural network; HNN: hidden neuron number; FN: feature number; LR: learning rate.

Table 3. Physical parameters of TWMBR.

Robot parameters

g 9:81 m 0:146 R 0:0625 Jw 0:00057 M 1:372

w 0:28 D 0:16 H 0:09 L 0:045 J 0:00093
J; 0:01189 Jm 1  105 Rm 2.4 Kb 0:308 Kt 0:155
Bm 0 Lm 0 n 30 : 1 fm 0:0022 fw 0
TWMBR: two-wheeled mobile balance robot.

for soil, pebble and sand floor are specified for this goal as
given in Figure 3.
ANN-based adaptation mechanism
In the study, the robots real-time balance experiments are
done on three different floors which have soil, pebble and
sand on it. During these experiments, actions of the robot
are analysed considering data such as tilt angle t, linear
displacement of robot X t and plant input u t for three
different surfaces. The action of the robot on each floor
(soil, pebble and sand) is analysed one by one referring
to the PID controller test parameter such as Kpt 29;
Kit 12; Kdt 9 obtained for soil and data about robot are
transferred to computer via bluetooth unit on the robot.
Firstly, as shown in Figure 4(a), the robots tilt angle; Figure
4(b), the distance it takes; and Figure 4(c), controller output
u t; 1; 2; 3 change in terms of time are observed
on three surfaces for 20 s without any external factor. As
Figure 4 shows, the reaction of the robot to different floors
is not the same.

The robots centre of gravity is 0 as a result of experi-

mental tests. Therefore, it was chosen as Target 0 . In
this article, to overcome this problem, an ANN-based
Unluturk and Aydogdu
Figure 6. Change in (a) tilt angle, (b) linear displacement and (c) controller output on three floors.
adaptation mechanism was designed. For the designed
parameter adaptation mechanism, the balance state of
the robot on each floor was observed with the same
controller parameter for 2 min without having any
external factor, and for each floor, 12,000 data were
obtained totally. Because that the robot system actions
are time-variable and non-linear, the data are re-evaluated
with the method of systematic sampling (N 600).
The equations about mean absolute target angle devia-
tion error (MATADE), mean absolute target displace-
ment deviation error (MATDDE) and mean absolute
controller output (MACO) are given in equations
(2224), respectively
1X N
MATADE j Target  Outputj j
N j1
1X N
MATDDE jX Target  X Outputj j
N j1
1X N
MACO jUj j
N j1
Hence, we have 20 meaningful data about the robot for
each floor in a controller test parameter. In Figure 5(a), the
20 data (MATADE, MATDDE and MACO) used in the
structure of ANN surface classifier are shown.
7
These data are classified with ANN in order to define the
floor on which the robot stands. After surface classification,
the prediction of the floor is made by parameter adaptation
mechanism. The model of ANN structure used for this
study is shown in Figure 5(b).
That ANN model is capable of evaluating input data of
the robot and defining its ground. Also, three output signals
1; 2; 3 making controller choice for three surfaces
(pebble is 1, sand is 2 and soil is 3) are obtained. In the
study, it is chosen that hidden neuron number (HNN) as 4,
5, 6, 7, 8, 9, 10, learning rate (LR) as 0.2, 0.4, 0.6, 0.8, 1.0,
1.2 values, feature number as 3, target stopping criteria as
0.001 accuracy value or 1000 iteration number and the
momentum constant as 0.9 to determine the appropriate
ANN structure. Also, three different activation functions
(22)
(logarithmic sigmoid, tangent sigmoid, purelin) are used
for neurons on hidden layer and output layer in each experi-
ment. That ANN structure has a feed-forward and multi-
(23) layer network trained with back propagation algorithm.
The best performance value for ANN model has been
obtained using LR 0.2, HNN 8 in purelin activation
function. The table of some of ANN structure used for this
(24)
study is shown in Table 2.
A real-time ANN algorithm is made and applied on the
robot real-time considering the weight bias and activation
function of this network structure and by applying the opti-
mum controller parameter on the robot it is achieved that
the robot can keep its balance more stably.
8 International Journal of Advanced Robotic Systems

Table 4. TWMBR performance evalution.

Pebble Sand
   
Tilt angle change Classic controller 8   7 6   5

ANN-based switching dynamic controller 5   6 4   4
Displacement change Classic controller 7 cm  X  5 cm 3 cm  X  2:5 cm
ANN-based switching dynamic controller 3 cm  X  3 cm 2:5 cm  X  2:5 cm
Controller output change Classic controller 5 V  V  4 V 3 V  V  4 V
ANN-based switching dynamic controller 2:5 V  V  2:5 V 2:5 V  X  2:5 V

TWMBR: two-wheeled mobile balance robot; ANN: artificial neural network.

Figure 7. Surface deformation of (a) soil, (b) pebble and (c) sand floor.

Experimental results robot for three surfaces as soil ( 1), pebble ( 2) and
sand ( 3). For this controller, the robots tilt angle, the
In this section, we will implement the TWMBR by using
distance it takes, and plant input u t change in terms of
the effective controller based on the proposed ANN-based
time are observed as shown in Figure 6, three floors for 20 s
adaptive switching controller. Moreover, in the experimen-
without any external factor.
tal test, we assume the robot physical parameters as given
When Figure 6 is compared with the ones obtained with
in Table 3.
just one controller Figure 4, it is seen that the system keeps
Equation (25) shows the state space expression obtained
balance much better on different surfaces. Obtained bal-
from TWMBR physical parameters in Table 3 using math-
ance performance values are shown in Table 4.
ematical model equations (10) to (20)
2 3 2 32 3 However, parameters in Figures 4 and 6 change rapidly
_ 0 0 1 0 because the surfaces are loose. As seen in Figure 7, surface
6 7 6 76 7 deformation affects desired balance of the robot very much.
6 _ 7 6 0 0 0 1 76 7
6 7 6 76 7
6 76 76 7
6 7 6 0 32:1287 2:0883 2:0883 76 _ 7
4 5 4 54 5 Conclusions

0 33:6544 3:0176 3:0176 _
2 3 Many researchers have studied about two-wheeled balance
0 0 robots. However, almost all of the researches have focused
6 7" #
6 0 0 7 vl on the solution of the balance problem on just one kind of
6 7
6 7 surface. In this study, a new controller structure was created
6 3:3776 3:3776 7 vr
4 5 by analysing the balance problem of the robot on different
4:8808 4:8808 surfaces. First of all, the angle oscillation, the distance it
(25) takes forward and backward and controller output changes
at the same time when the robot tries to keep balance were
The controller parameters on different surfaces are classified with ANN and surface estimation was achieved.
found roughly with simulation results by utilizing the math- At the end of ANN-based classification process, the con-
ematical model of the robot system. Then, controller para- troller parameter of the robot was changed on the robot
meters are obtained by fine tuning via real-time robot with respect to surface by using the adaptation mechanism.
control interface. The controller parameters given in The proposed adaptive control structure with switching was
Figure 3 were obtained as a result of real-time tests of the applied real-time on TWMBR for different surfaces. These
Unluturk and Aydogdu
real-time experimental results show that the proposed con-
troller structure had a positive contribution to the robot
behaviour on different grounds, because the angle oscilla-
tion and distance it takes forward and backward were
decreased. At the same time, the controller output change
was considerably limited, thus, the energy efficiency was
increased. It is seen that TWMBR system becomes more
robust and stable.
Declaration of conflicting interests
The author(s) declared no potential conflicts of interest with
respect to the research, authorship, and/or publication of this
article.
Funding
The author(s) received no financial support for the research,
authorship, and/or publication of this article.
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