An investigation on the application of fuzzy and PID algorithm in the two wheeled robot with self balancing system using microcontroller

Author

Wardoyo, Adik S. ; Hendi, S. ; Sebayang, Darwin ; Hidayat, Imam ; Adriansyah, Andi

Author_Institution

Fac. of Eng., Univ. Mercubuana, Jakarta, Indonesia

fYear

2015

fDate

20-22 May 2015

Firstpage

64

Lastpage

68

Abstract

The Fuzzy logic combined with PID control is designed to implement the effect of a disturbance force varying in magnitude, position, and duration to optimize the two wheeled and self-balancing robot. Matlab software was used to obtain Simulink-simulation of the experiment process. The simulation results shows that PID parameters that obtained from the use of auto-tuning is Kp = 16.60, Ki = 8.47, and Kd = 8.90. The simulation results of Fuzzy and PID combination shows that the error can be reduce approximately around 60 %. It is indicated that the Fuzzy logic with PID was better to reduce error in Two Wheeled and Self Balancing Robot than using Fuzzy logic.

Keywords

control engineering computing; control system synthesis; force control; fuzzy control; microcontrollers; mobile robots; position control; self-adjusting systems; three-term control; wheels; Matlab software; PID control; control system design; disturbance force; fuzzy logic control; microcontroller; position control; self balancing system; two wheeled robot; DC motors; Force; Fuzzy logic; Mobile robots; Process control; Robot sensing systems; PID; fuzzy; two wheeled robot and self balancing robot;

fLanguage

English

Publisher

ieee

Conference_Titel

Control, Automation and Robotics (ICCAR), 2015 International Conference on

Conference_Location

Singapore

Print_ISBN

978-1-4673-7522-1

Type

conf

DOI

10.1109/ICCAR.2015.7166003

Filename

7166003