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Self-balancing Robot Modeling and Control Using Two Degree of Freedom PID Controller

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Proceedings of the International Conference on Advanced Intelligent Systems and Informatics 2018 (AISI 2018)

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 845))

Abstract

This paper represents the control of a two-wheel self-balancing robot based on the theory of controlling the inverted pendulum. This paper dividing the system modeling into two main parts. The first part is the dc motor and the second part are the whole mechanical design and its characteristics as a function in the motor speed and the torque depending on the system, creating two control closed loops inner and outer. The study uses conventional proportional–integral–derivative (PID) and two degree of freedom PID controllers to obtain a robust controller for the system. The inner loop controls the motor speed use the motor speed feedback signal from the encoder. The outer loop keeps the robot always in the accepted vertical angle boundary, using a six-degree of freedom gyroscope and accelerometer as a feedback signal. A state space model is obtained considering some assumptions and simplifications. The results are verified through simulations and experiments. Numerical simulation results indicate that the 2-DOF PID controller is superior to the traditional PID controller.

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Author information

Authors and Affiliations

  1. Faculty of Computers and Information, Benha University, Benha, Egypt

    Ahmad Taher Azar

  2. School of Engineering and Applied Sciences, Nile University Campus, Sheikh Zayed District, Juhayna Square, 6th of October City, Giza, 12588, Egypt

    Ahmad Taher Azar, Hossam Hassan Ammar, Mohamed Hesham Barakat, Mahmood Abdallah Saleh & Mohamed Abdallah Abdelwahed

Authors
  1. Ahmad Taher Azar
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  2. Hossam Hassan Ammar
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  3. Mohamed Hesham Barakat
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  4. Mahmood Abdallah Saleh
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  5. Mohamed Abdallah Abdelwahed
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Corresponding author

Correspondence to Ahmad Taher Azar .

Editor information

Editors and Affiliations

  1. Information Technology Department, Faculty of Computers and Information, Cairo University, Giza, Egypt

    Aboul Ella Hassanien

  2. Ain Shams University, Cairo, Egypt

    Mohamed F. Tolba

  3. Dubai International Academic City, The British University in Dubai, Dubai, United Arab Emirates

    Khaled Shaalan

  4. Faculty of Computers and Information, Benha University, Benha, Egypt

    Ahmad Taher Azar

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Azar, A.T., Ammar, H.H., Barakat, M.H., Saleh, M.A., Abdelwahed, M.A. (2019). Self-balancing Robot Modeling and Control Using Two Degree of Freedom PID Controller. In: Hassanien, A., Tolba, M., Shaalan, K., Azar, A. (eds) Proceedings of the International Conference on Advanced Intelligent Systems and Informatics 2018. AISI 2018. Advances in Intelligent Systems and Computing, vol 845. Springer, Cham. https://doi.org/10.1007/978-3-319-99010-1_6

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