Balancing of Two Wheeled Robot Using PID Controller

Abstract

Nowadays robots can be seen in our daily life. Recently, robotic applications and their wide range of functionalities have drawn many engineers’ attentions. Robot with at least three wheels can achieve static stability further simplifying dynamics. The inverted pendulum system is naturally unstable. Two wheeled balancing robot is application of inverted pendulum that requires a controller to maintain its upright position. This thesis will describe the modeling of two wheeled balancing robot, design the robot controller usingProportional-Integral-Derivative (PID) controller and implement the controller on the robot. Micro-Processing Unit(MPU) is used, which combines accelerometer and gyroscope measurement in order to estimate and obtain the lilt of the robot. PID controller is applied to correct the error between the desired set point and the actual tilt angle and adjust the Direct Current (DC) motor speed according to balance the robot. The simulation result of the model is compared with the developed hardware and performance of the controller