Modelling and Experimental Analysis Two-Wheeled Self Balance Robot Using PID Controller

Zimit, Aminu Yahaya and Yap, Hwa Jen and Hamza, Mukhtar Fatihu and Siradjuddin, Indrazno and Hendrik, Billy and Herawan, Herawan3 (2018) Modelling and Experimental Analysis Two-Wheeled Self Balance Robot Using PID Controller. Computational Science and Its Applications – ICCSA 2018.

Text (Proceeding International) Modelling and Experimental Analysis.pdf Download (4MB)

Abstract

Abstract. This research is aimed to design and implement Proportional Integral Derivative (PID) controller on Two-wheeled self-balance (TWSB) robot. The PID is used for the purpose of balancing the robot to stand still at upright position and to receive command via Bluetooth to follow the desired trajectory smoothly. The dynamic model of TWSB robot was developed using Lagrangian method. The PID gains were tuned until the optimum values are achieved. The Arduino based PID-controller was implemented on the TWSB robot in real world experiment. The experimental result shows the effectiveness of the pro posed controller for stabilization and trajectory tracking control of TWSB robot. Keywords: PID Self-balanced robot � Mathematical modelTrajectory tracking control

Actions (login required)

View Item