An investigation on the application of fuzzy and PID algorithm in the two wheeled robot with self balancing system using microcontroller

摘要

The Fuzzy logic combined with PID control is designed to implement the effect of a disturbance force varying in magnitude, position, and duration to optimize the two wheeled and self-balancing robot. Matlab software was used to obtain Simulink-simulation of the experiment process. The simulation results shows that PID parameters that obtained from the use of auto-tuning is Kp = 16.60, Ki = 8.47, and Kd = 8.90. The simulation results of Fuzzy and PID combination shows that the error can be reduce approximately around 60 %. It is indicated that the Fuzzy logic with PID was better to reduce error in Two Wheeled and Self Balancing Robot than using Fuzzy logic.