Design and Implementation of Two-Wheeled Self-Balancing Robot Using PID Controller

Abstract

In this work, a Proportional, Integral, and Differential (PID) controller was implemented to control the stability of the Two-Wheeled Self-Balancing Robot (TWSBR). The PID parameters were manually tuned and the best performing set of parameters was chosen in the final implementation. Here the robot is implemented using an Arduino, an Inertial Measurement Unit (IMU), and two geared DC motors, all components were mounted on a plywood and steel chassis. The two DC motors applied the desired amount of torque in the right direction to enable the structure to maintain a vertical equilibrium state. Also, the mathematical model of the robot was obtained by using mechanical principles. A real-time response was plotted by connecting the Arduino to MATLAB using serial communication. The result of this work showed that the TWSBR could achieve good stability with only angle feedback and a manually tuned PID controller implemented using an Arduino. Finally, recommendations were given for reaching a better performance for future projects.