Fuzzy-PID Controller for Two Wheels Balancing Robot Based on STM32 Microcontroller

Anisimov, Dmitry; Dang, Thai Son; Fedorova, E. V.

doi:10.1109/ent.2019.00009

Cited by 11 publications

(3 citation statements)

References 15 publications

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“…The fuzzy controller was designed based on the relation models to control the robot's balancing as well as the robot's position by implementing the STM32F4 Discovery Kit for real-time operation. Another research has been done by Khan,et al [15], they said that the PID controllers were designed using Social Spider Optimization (SSO) algorithm to demonstrate the effectiveness of these controllers in order to optimise the speed of the motor of the robot [15].…”

Section: Study the Performance Of Two-wheeled Balancing Mobile Robot ...mentioning

confidence: 99%

Study the Performance of Two-Wheeled Balancing Mobile Robot Using Fuzzy Pd Controller

Mohd Noor,

Mohd Halid,

Mahmod @Wahab

2023

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Nowadays, the research on a two-wheeled self-balancing robot is an active area of research especially in terms of design as well as control to continue the innovation applications of robots in the future. Most of the two-wheeled self-balancing robots are designed based on an inverted pendulum system for stability and maneuverability. The aim of this paper is to propose the fuzzy PD controller to control and maintain its balance on the two wheels. A sensor of the Inertial Measurement Unit (IMU) was used as an input to evaluate and obtain the position and orientation of the robot. The control algorithms for the robot also are designed to keep the pendulum upright. Then, the fuzzy PD concept was applied to correct the error between the desired set point and the actual tilt angle position to adjust the speed of the motor accordingly. The results obtained from this controller were capable of maintaining the balancing of the robot by using an experimental method of PID tuning. The prototype of the two-wheeled self-balancing robot was implemented with Arduino Uno and a fuzzy PD controller. However, the limitation of the project is the longer size and heavier weight of the robot are less stable, then a better controller is needed to balance the robot.

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Section: Study the Performance Of Two-wheeled Balancing Mobile Robot ...mentioning

confidence: 99%

Study the Performance of Two-Wheeled Balancing Mobile Robot Using Fuzzy Pd Controller

Mohd Noor,

Mohd Halid,

Mahmod @Wahab

2023

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“…Penambahan kontrol Fuzzy diharapkan akan membantu meningkatkan performa robot kesetimbangan. Dengan penambahan logika fuzzy untuk besaran nilai koefisien dari PID dan dikombinasikan dengan setpoint dari nilai data sensor, akan didapat error dan selisih error, untuk digunakan sebagai nilai input logika fuzzy, hasil kendali akan diumpankan ke kontroller untuk kemudian menghasilkan PWM, nilai dari PWM akan mengendalikan gerakan motor DC [5], [20].…”

Section: Logika Fuzzyunclassified

“…Kendali PID akan menghasilkan respon yang dipengaruhi oleh parameter Kp, Ki dan Kd [5], [7]. Pengujian dilakukan dengan mengubah ubah parameter dan memperhatikan hasil pergerakan robot, didapat nilai dan bentuk sinyal sebagai berikut: Gambar 6 (b) menunjukkan grapik respon langkah (step response) memiliki nilai yang panjang untuk stabil, hal ini dikarenakan nilai penguatan integral kecil (Ki=Kecil), sehingga membutuhkan waktu lama untuk aksi penyatuan dan mengurangi kesalahan kondisi tetap, dengan penambahan nilai Ki proses tersebut dapat dipercepat, gambar 5(a).…”

Section: Simulasi Pidunclassified

Desain Simulasi Robot Kesetimbangan Dua Roda Dengan Kecerdasan Buatan

Hartayu

Santoso

Kaleka

et al. 2020

JSI

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Dalam penelitian dijelaskan salah satu metode alternatif analisa kontrol pada robot kesetimbangan dua roda dengan menggunakan progam simulasi. Program simulasi menggunakan software Matlab. Penelitian ini menghasilkan analisa simulasi kontrol, berupa analisa data sensor gyroscope, simulasi PID dan logika fuzzy. Pada simulasi PID nilai kestabilan didapat pada Kp=100, Ki=200, Kd=10, hasil analisa data gyroscope didapat nilai minimum pada 0,074616, nilai maksimum 0,110321, dengan nilai rata-rata 0,092469, standar deviasi 0,025247, jumlah data 0,184937. Penerapan logika fuzzy pada deteksi sudut dan pemberian nilai PWM, menghasilkan data kestabilan nilai konstanta PID. Penelitian ini diharapkan menjadi acuan pemberian nilai kontrol pada robot, dan untuk penelitian berikutnya dapat dikembangkan dengan menambahkan filter komplement atau kalman untuk menghasilkan kestabilan gerak robot.

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A combined backstepping and adaptive fuzzy PID approach for trajectory tracking of autonomous mobile robots

Dang

Duong

et al. 2021

J Braz. Soc. Mech. Sci. Eng.

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Fuzzy-PID Controller for Two Wheels Balancing Robot Based on STM32 Microcontroller

Cited by 11 publications

References 15 publications

Study the Performance of Two-Wheeled Balancing Mobile Robot Using Fuzzy Pd Controller

Study the Performance of Two-Wheeled Balancing Mobile Robot Using Fuzzy Pd Controller

Desain Simulasi Robot Kesetimbangan Dua Roda Dengan Kecerdasan Buatan

A combined backstepping and adaptive fuzzy PID approach for trajectory tracking of autonomous mobile robots

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