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- Title
PID CONTROLLER FOR BALANCING ONE-WHEELED SELF-BALANCING ROBOT.
- Authors
Phong-Luu Nguyen; Van-Dong-Hai Nguyen; Minh-Phuoc Cu; Minh-Quang Nguyen; Minh-Phuong Trinh; Duc-Minh Hoang; Minh-Hanh Pham; Duy-Bao Hoang
- Abstract
One-wheeled self-balancing robot is a high-order SIMO system. It is developed from bicycle balancing and two-wheeled self-balancing robot by using only one wheel instead of two wheels. In this paper, we consider this model as two combined SIMO systems. Thence, a PID control structure is designed to balance this model not falling on a plane. Simulations are shown to prove again the ability of PID controllers in balancing this robot is two directions. Besides, we present a hardware platform of one-wheel self-balancing robot. Through the real model, PID control algorithm is proved to balance this object well at equilibrium point.
- Subjects
PID controllers; ROBOTS; MOBILE robots; MODEL airplanes; CYCLING
- Publication
Robotica & Management, 2022, Vol 27, Issue 1, p23
- ISSN
1453-2069
- Publication type
Article
- DOI
10.24193/rm.2022.1.5