PID Controller for Balancing One-Wheeled Self-Balancing Robot

Abstract

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.

Keywords

• one-wheel
• self-balance
• unicycle
• simo system
• pid control