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A coupling function couples the control value between the PD\u2010controller and the DNN\u2010compensator. Its effect is that when the PD\u2010controller's output value is insufficient to maintain the TWMSR's balance, the DNN\u2010compensator will compensate the PD\u2010controller's output. The experimental results show that using our DNN\u2010compensator coupling PD\u2010controller balance control strategy to control the TWMSR movement on uneven surface road can maintain the TWMSR drive stability; compared to traditional PD\u2010controller, our control strategy braking performance is better, and the pitch angle () fluctuation range is smaller, TWMSR topple over is difficult.<\/jats:p>","DOI":"10.1002\/rob.22483","type":"journal-article","created":{"date-parts":[[2024,12,5]],"date-time":"2024-12-05T05:49:49Z","timestamp":1733377789000},"page":"1963-1975","update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["Using DNN\u2010Compensator Coupling PD\u2010Controller Strategy Control Two\u2010Wheeled Robots Upright Motion Balance"],"prefix":"10.1002","volume":"42","author":[{"given":"Tang","family":"Zhaojia","sequence":"first","affiliation":[{"name":"School of Intelligent Systems Engineering Sun Yat\u2010Sen University Shenzhen China"},{"name":"Guangdong Provincial Key Laboratory of Fire Science and Intelligent Emergency Technology Guangzhou China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Han","family":"Yu","sequence":"additional","affiliation":[{"name":"School of Intelligent Systems Engineering Sun Yat\u2010Sen University Shenzhen China"},{"name":"Guangdong Provincial Key Laboratory of Fire Science and Intelligent Emergency Technology Guangzhou China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Wang","family":"Ping","sequence":"additional","affiliation":[{"name":"School of Intelligent Systems Engineering Sun Yat\u2010Sen University Shenzhen China"},{"name":"Guangdong Provincial Key Laboratory of Fire Science and Intelligent Emergency Technology Guangzhou China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","published-online":{"date-parts":[[2024,12,5]]},"reference":[{"issue":"5","key":"e_1_2_11_2_1","first-page":"43","article-title":"Technology at War","volume":"53","author":"Allan R.","year":"2005","journal-title":"Electronic Design"},{"key":"e_1_2_11_3_1","doi-asserted-by":"publisher","DOI":"10.1109\/TIM.2024.3485462"},{"key":"e_1_2_11_4_1","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2023.3332174"},{"key":"e_1_2_11_5_1","doi-asserted-by":"publisher","DOI":"10.1109\/41.982254"},{"key":"e_1_2_11_6_1","doi-asserted-by":"publisher","DOI":"10.3389\/fnbot.2022.1066714"},{"key":"e_1_2_11_7_1","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2022.3140518"},{"key":"e_1_2_11_8_1","doi-asserted-by":"publisher","DOI":"10.1142\/S0218001423590036"},{"key":"e_1_2_11_9_1","doi-asserted-by":"publisher","DOI":"10.1109\/JAS.2020.1003048"},{"key":"e_1_2_11_10_1","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2020.2992997"},{"key":"e_1_2_11_11_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.neucom.2020.02.109"},{"key":"e_1_2_11_12_1","doi-asserted-by":"crossref","unstructured":"Klemm V.2019. \u201cAscento: A Two\u2010Wheeled Jumping Robot.\u201d International Conference on Robotics and Automation 7515\u20137521.","DOI":"10.1109\/ICRA.2019.8793792"},{"key":"e_1_2_11_13_1","doi-asserted-by":"publisher","DOI":"10.1109\/TNNLS.2022.3153039"},{"key":"e_1_2_11_14_1","doi-asserted-by":"publisher","DOI":"10.1007\/s42235-023-00468-1"},{"key":"e_1_2_11_15_1","doi-asserted-by":"publisher","DOI":"10.1109\/TKDE.2020.3033324"},{"key":"e_1_2_11_16_1","doi-asserted-by":"crossref","unstructured":"Mendez E. 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