PID Controller for Balancing One-Wheeled Self-Balancing Robot
One-wheeled self-balancing robot is a high-order SIMO system. It is developed from bicycle balancing and two-wheeled self-balancing robot by using only one wheel instead of two wheels. In this paper, we consider this model as two combined SIMO systems. Thence, a PID control structure is designed to...
| Main Authors: | , , , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Editura Eftimie Murgu
2022-06-01
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| Series: | Robotica & Management |
| Subjects: | |
| Online Access: | https://rm.reviste.ubbcluj.ro/wp-content/uploads/2022/10/RM_2022_1_Pag_23_Nguyen_PL.pdf |
| _version_ | 1797987960412438528 |
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| author | Phong-Luu Nguyen Van-Dong-Hai Nguyen Minh-Phuoc Cu Minh-Quang Nguyen Minh-Phuong Trinh Duc-Minh Hoang Minh-Hanh Pham Duy-Bao Hoang |
| author_facet | Phong-Luu Nguyen Van-Dong-Hai Nguyen Minh-Phuoc Cu Minh-Quang Nguyen Minh-Phuong Trinh Duc-Minh Hoang Minh-Hanh Pham Duy-Bao Hoang |
| author_sort | Phong-Luu Nguyen |
| collection | DOAJ |
| description | One-wheeled self-balancing robot is a high-order SIMO system. It is developed from bicycle balancing and two-wheeled self-balancing robot by using only one wheel instead of two wheels. In this paper, we consider this model as two combined SIMO systems. Thence, a PID control structure is designed to balance this model not falling on a plane. Simulations are shown to prove again the ability of PID controllers in balancing this robot is two directions. Besides, we present a hardware platform of one-wheel self-balancing robot. Through the real model, PID control algorithm is proved to balance this object well at equilibrium point. |
| first_indexed | 2024-04-11T07:55:20Z |
| format | Article |
| id | doaj.art-e1bbb4b281684ff1a1298d6a7c1903f9 |
| institution | Directory Open Access Journal |
| issn | 1453-2069 2359-9855 |
| language | English |
| last_indexed | 2024-04-11T07:55:20Z |
| publishDate | 2022-06-01 |
| publisher | Editura Eftimie Murgu |
| record_format | Article |
| series | Robotica & Management |
| spelling | doaj.art-e1bbb4b281684ff1a1298d6a7c1903f92022-12-22T04:35:57ZengEditura Eftimie MurguRobotica & Management1453-20692359-98552022-06-012712327https://doi.org/10.24193/rm.2022.1.5PID Controller for Balancing One-Wheeled Self-Balancing RobotPhong-Luu Nguyen0Van-Dong-Hai Nguyen1Minh-Phuoc Cu2Minh-Quang Nguyen3Minh-Phuong Trinh4Duc-Minh Hoang5Minh-Hanh Pham6Duy-Bao Hoang7Ho Chi Minh city University of Technology and Education (HCMUTE) Vo Van Ngan street, No. 01, Ho Chi Minh city, VietnamHo Chi Minh city University of Technology and Education (HCMUTE) Vo Van Ngan street, No. 01, Ho Chi Minh city, VietnamCao Thang Technical College Huynh Thuc Khang Str, No. 65, Ho Chi Minh city, VietnamCao Thang Technical College Huynh Thuc Khang Str, No. 65, Ho Chi Minh city, VietnamHo Chi Minh city University of Technology and Education (HCMUTE) Vo Van Ngan street, No. 01, Ho Chi Minh city, VietnamHo Chi Minh city University of Technology and Education (HCMUTE) Vo Van Ngan street, No. 01, Ho Chi Minh city, VietnamHo Chi Minh city University of Technology and Education (HCMUTE) Vo Van Ngan street, No. 01, Ho Chi Minh city, VietnamHo Chi Minh city University of Technology and Education (HCMUTE) Vo Van Ngan street, No. 01, Ho Chi Minh city, VietnamOne-wheeled self-balancing robot is a high-order SIMO system. It is developed from bicycle balancing and two-wheeled self-balancing robot by using only one wheel instead of two wheels. In this paper, we consider this model as two combined SIMO systems. Thence, a PID control structure is designed to balance this model not falling on a plane. Simulations are shown to prove again the ability of PID controllers in balancing this robot is two directions. Besides, we present a hardware platform of one-wheel self-balancing robot. Through the real model, PID control algorithm is proved to balance this object well at equilibrium point.https://rm.reviste.ubbcluj.ro/wp-content/uploads/2022/10/RM_2022_1_Pag_23_Nguyen_PL.pdfone-wheelself-balanceunicyclesimo systempid control |
| spellingShingle | Phong-Luu Nguyen Van-Dong-Hai Nguyen Minh-Phuoc Cu Minh-Quang Nguyen Minh-Phuong Trinh Duc-Minh Hoang Minh-Hanh Pham Duy-Bao Hoang PID Controller for Balancing One-Wheeled Self-Balancing Robot Robotica & Management one-wheel self-balance unicycle simo system pid control |
| title | PID Controller for Balancing One-Wheeled Self-Balancing Robot |
| title_full | PID Controller for Balancing One-Wheeled Self-Balancing Robot |
| title_fullStr | PID Controller for Balancing One-Wheeled Self-Balancing Robot |
| title_full_unstemmed | PID Controller for Balancing One-Wheeled Self-Balancing Robot |
| title_short | PID Controller for Balancing One-Wheeled Self-Balancing Robot |
| title_sort | pid controller for balancing one wheeled self balancing robot |
| topic | one-wheel self-balance unicycle simo system pid control |
| url | https://rm.reviste.ubbcluj.ro/wp-content/uploads/2022/10/RM_2022_1_Pag_23_Nguyen_PL.pdf |
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