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Modelling and Experimental Analysis Two-Wheeled Self Balance Robot Using PID Controller

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Computational Science and Its Applications – ICCSA 2018 (ICCSA 2018)

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Abstract

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.

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Author information

Authors and Affiliations

  1. Department of Mechanical Engineering, University of Malaya, Kuala Lumpur, Malaysia

    Aminu Yahaya Zimit, Hwa Jen Yap & Mukhtar Fatihu Hamza

  2. Department of Mechatronics Engineering, Bayero University, Kano, Nigeria

    Aminu Yahaya Zimit & Mukhtar Fatihu Hamza

  3. Politeknik Negeri Malang, Malang, Indonesia

    Indrazno Siradjuddin & Tutut Herawan

  4. Universitas Putra Indonesia YPTK, Padang, Sumatera Barat, Indonesia

    Billy Hendrik

  5. Universitas Negeri Yogyakarta, Yogyakarta, Indonesia

    Tutut Herawan

  6. Universitas Teknologi Yogyakarta, Yogyakarta, Indonesia

    Tutut Herawan

Authors
  1. Aminu Yahaya Zimit
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  2. Hwa Jen Yap
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  3. Mukhtar Fatihu Hamza
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  4. Indrazno Siradjuddin
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  5. Billy Hendrik
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  6. Tutut Herawan
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Corresponding author

Correspondence to Mukhtar Fatihu Hamza .

Editor information

Editors and Affiliations

  1. University of Perugia, Perugia, Italy

    Osvaldo Gervasi

  2. University of Basilicata, Potenza, Italy

    Beniamino Murgante

  3. Covenant University, Ota, Nigeria

    Sanjay Misra

  4. Saint Petersburg State University, Saint Petersburg, Russia

    Elena Stankova

  5. Polytechnic University of Bari, Bari, Italy

    Carmelo M. Torre

  6. University of Minho, Braga, Portugal

    Ana Maria A.C. Rocha

  7. Monash University, Clayton, Victoria, Australia

    David Taniar

  8. Kyushu Sangyo University, Fukuoka shi, Fukuoka, Japan

    Bernady O. Apduhan

  9. Politecnico di Bari, Bari, Italy

    Eufemia Tarantino

  10. Myongji University, Yongin, Korea (Republic of)

    Yeonseung Ryu

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Zimit, A.Y., Yap, H.J., Hamza, M.F., Siradjuddin, I., Hendrik, B., Herawan, T. (2018). Modelling and Experimental Analysis Two-Wheeled Self Balance Robot Using PID Controller. In: Gervasi, O., et al. Computational Science and Its Applications – ICCSA 2018. ICCSA 2018. Lecture Notes in Computer Science(), vol 10961. Springer, Cham. https://doi.org/10.1007/978-3-319-95165-2_48

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  • DOI: https://doi.org/10.1007/978-3-319-95165-2_48

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-95164-5

  • Online ISBN: 978-3-319-95165-2

  • eBook Packages: Computer ScienceComputer Science (R0)

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