Fuzzy PID Control for a Cubic Robot Balancing on Its Corner

Abstract

In this paper, a cubic self-balancing robot is designed. Taking a prototype of a cubic robot that has been designed as a specific research object. For the attitude control of this institution. Using Lagrangian Method to establish a mathematical model of cubic robot. For its attitude control method. Fuzzy PID control method was proposed. Establishing simulation models in Matlab/Simulink environment. The simulation experiments using conventional PID control and fuzzy PID control were performed for comparison. The results show that the adoption of fuzzy PID control has faster response speed and smaller overshoot than traditional PID control and has better control effect.