Modelling and experimental analysis two-wheeled self balance robot using PID controller

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 proposed controller for stabilization and trajectory tracking control of TWSB robot.