In:
Robotica & Management, Babes-Bolyai University, Vol. 27, No. 1 ( 2022), p. 23-27
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.
Type of Medium:
Online Resource
ISSN:
1453-2069
,
2359-9855
DOI:
10.24193/rm.2022.1.5
Language:
Unknown
Publisher:
Babes-Bolyai University
Publication Date:
2022
detail.hit.zdb_id:
2893597-4
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