Implementation of Controller for Self-balancing Robot

Abstract

A two-wheeled self-balancing robot that works on the principle of inverted pendulum theory is most commonly used in control systems as an exemplar for comparing various control and optimization algorithms. This nonlinear dynamic system has gained much interest among researchers and engineers and the main aim is to stabilize this system with minimum deviation about any desired axis. As this system is affected by external disturbances and measured parametric errors, the need for the implementation of controllers has become crucial. Hardware and software implementation form the basis of the system design. The proposed work aims at the implementation of a PID controller for the successful working of the two-wheeled self-balancing robot driven by stepper motors. The closed-loop controller’s parameters have been optimized by using pole placement method. Besides, the response of the system under the fuzzy controller, created using Mamdani fuzzy interface engine in Simulink, has been illustrated.