A　two-loop　cascade　adaptive　controller　is　proposed　for　a　non-stable,　non-linear,　strong　coupling　system　using　backstepping　and　fuzzy　neural　network　(FNN).　The　proposed　approach　uses　fuzzy　neural　networks　to　approximate　unknown　nonlinear　function.　Then,　use　backstepping　to　design　adaptive　controller　to　realize　self-balancing　control　of　robot.　The　simulation　results　indicate　that　both　speediness　and　stability　performance　in　robot　is　improved,　and　there　is　well　control　performance　in　trouble.