Aminu Yahaya Zimit, Hwa Jen Yap, Mukhtar Fatihu Hamza, Indrazno Siradjuddin, Billy Hendrik, Tutut Herawan
This research is aimed to design and implement Proportional Integral Derivative (PID) controller on Two-wheeled self-balance (TWSB) robot. The PID is used for the purpose of balancing the robot to stand still at upright position and to receive command via Bluetooth to follow the desired trajectory smoothly. The dynamic model of TWSB robot was developed using Lagrangian method. The PID gains were tuned until the optimum values are achieved. The Arduino based PID-controller was implemented on the TWSB robot in real world experiment. The experimental result shows the effectiveness of the proposed controller for stabilization and trajectory tracking control of TWSB robot. © Springer International Publishing AG, part of Springer Nature 2018.
Department of Mechanical Engineering, University of Malaya, Kuala Lumpur, Malaysia; Department of Mechatronics Engineering, Bayero University, Kano, Nigeria; Politeknik Negeri Malang, Malang, Indonesia; Universitas Putra Indonesia YPTK, Padang, Sumatera Barat, Indonesia; Universitas Negeri Yogyakarta, Yogyakarta, Indonesia; Universitas Teknologi Yogyakarta, Yogyakarta, Indonesia
