Adaptive Double Fuzzy Anti-Integral Saturation PID Control for Self-balancing Robot with Reaction Wheel

Abstract

In this paper, we propose a self-balancing mobile robot system and further design a control method to improve the resistance to external impact and the adaptability to continuous loads when the robot is at a fixed point. Firstly, the self-balancing robot we put forward in this paper is compared with the classic two-wheeled self-balancing robot to show its structural advantages. Secondly, the mechanical design part and the electrical design part of the robot are introduced, and the system is mathematically modeled and analyzed. Finally, an adaptive double-fuzzy anti-integral saturation PID control is developed and compared with the dual-loop PID control on the proposed robot. Experiments show that when the robot stops at a fixed position, adaptive double-fuzzy anti-integral saturation PID control could effectively improves the impact resistance and adaptability to continuous loads.