中文说明：
FNFB模拟，本论文旨在针对一自平衡两轮电动车，发展两种智慧调节运动控制策略及其嵌入式控制器研制技术。本文使用三星S3C2410 ARM处理器制作一台嵌入式控制器，用以实现所提的智慧调节型运动控制策略。藉由已发展的非线性数学模型，两种结合模糊基础网络（FBFN）之智慧调节型运动控制策略被提出，用以达成速度追踪与转向角速度控制。第一种智慧调节型运动控制方法使用模糊基础网络近似学习模型不确定与时变的摩擦力，而第二种智慧调节型运动控制方法则采用模糊基础网络直接学习该非线性控制器的能力。计算机仿真及实验结果证实本文所建立的控制器有能力提供适当的控制动作，使得车体依照驾驶者的需求动作。
English Description：
Fnfb simulation, this paper aims to develop two intelligent regulation motion control strategies and embedded controller development technology for a self balancing two wheeled electric vehicle. This paper uses Samsung S3C2410 ARM processor to make an embedded controller to realize the proposed intelligent adjustable motion control strategy. Based on the developed nonlinear mathematical model, two intelligent adjustable motion control strategies combined with fuzzy basic network (FBFN) are proposed to achieve speed tracking and steering angle speed control. The first intelligent adjustable motion control method uses fuzzy basic network to approximate the learning model of uncertain and time-varying friction, while the second intelligent adjustable motion control method uses fuzzy basic network to directly learn the ability of the nonlinear controller. Computer simulation and experimental results show that the controller established in this paper has the ability to provide appropriate control actions to make the car body act according to the driver's needs