Design and implementation of the balance of two-wheeled robots

Yan Hou Wen, Yu Sheng Lin, Yih Guang Leu

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Citations (Scopus)

Abstract

This paper is to study the balance of two-wheeled robots by fuzzy control and PID control. Two-wheeled robots need extra control mechanism to reach the balance since the system itself is instable. This study plans to implement the related control circuit to a real two-wheeled robot model. By realizing the fuzzy control and the PID control into microcontroller the two-wheeled robot can still keep the balance even when the external interference is added. At first, use the three-axis accelerometer to measure the angle of the body, and an angle error value is generated. Then, through the fuzzy algorithm and the PID algorithm to output an appropriate PWM (Pulse-width modulation) duty to drive the motor, the two-wheeled robot reaches the balance. Finally, compare the balance efficiency and the efficiency of resisting the external interference of the fuzzy control and of the PID control. The experimental result of the two-wheeled mobile robot shows that the method proposed in this paper is feasible.

Original languageEnglish
Title of host publication2013 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2013 - Conference Proceedings
Pages130-134
Number of pages5
DOIs
Publication statusPublished - 2013 Sep 9
Event2013 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2013 - Tainan, Taiwan
Duration: 2013 May 32013 Jun 2

Publication series

Name2013 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2013 - Conference Proceedings

Other

Other2013 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2013
CountryTaiwan
CityTainan
Period13/5/313/6/2

Keywords

  • Fuzzy control
  • PID control
  • PWM
  • Two-wheeled robots

ASJC Scopus subject areas

  • Artificial Intelligence
  • Control and Systems Engineering

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  • Cite this

    Wen, Y. H., Lin, Y. S., & Leu, Y. G. (2013). Design and implementation of the balance of two-wheeled robots. In 2013 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2013 - Conference Proceedings (pp. 130-134). [6573547] (2013 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2013 - Conference Proceedings). https://doi.org/10.1109/ARIS.2013.6573547