Abstract— A two-wheeled self-balancing robot system is developed and the hardware system mainly consists of a controller of TMS320LF2407 DSP, a main sensor of Mio-x AHRS module, and other bargain components. The traditional linear controllers have a number of crucial flaws in controlling of two-wheeled self-balancing robot, such as long settling time and large overshoot. Therefore, we conducted further research on the fuzzy control method, designed a fuzzy adaptive PID controller with an improved structure, and simplified its algorithm process. Simulation results demonstrate that the fuzzy adaptive PID controller has a shorter settling time and smaller overshoot than the traditional linear controller and it is more suitable for large time delay, multi-parameter, high-order, strong coupling, and nonlinear two wheel self-balancing robot system control.
Index Terms— Intelligent robot, two-wheeled self-balancing robot, fuzzy logic, fuzzy PID, adaptive, MATLAB simulation.
Congying Qiu is with the Beijing Key Laboratory of Traffic Engineering, Beijing University of Technology, Beijing, China (e-mail: qiucongying20@gmail.com). Yibin Huang is with the Institute of Automation, Chinese Academy of Sciences, China (e-mail: 727948828@qq.com).
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Cite: Congying Qiu and Yibin Huang, " The Design of Fuzzy Adaptive PID Controller of Two-Wheeled Self-Balancing Robot," International Journal of Information and Electronics Engineering vol. 5, no. 3, pp. 193-197, 2015.
