Two-wheeled self-balancing robots (TWSBR) are statically unstable. However, using closed-loop controllers can stabilize. In this work, the proportional-integral-derivative (PID) controller was designed to maintain the TWSBR stability by adding two zeros and a pole at the origin to the loop gain and by determining the parameter K via root-locus analysis. Then using the K value Kp, Ki, and Kd parameters were calculated. By applying an impulse response to the system, it was found that the system is able to reach a dynamic balance in less than 1.2 seconds with minimum steady-state error. The dynamic performance and limitations of the developed system were investigated. The highest disturbance angle that can be applied to the system while keeping the motor input voltage below 12 V, in order to create counterbalancing torque and achieve dynamic balance, is determined to be θ = 0.0524 rad. Additionally, it was found that the TWSBR system managed to retain stability in a significantly large range of sudden payload changes with the same PID controller.
Collaboration network of the authors
2 authors ·
1 co-authorship link
· 1 across different organisations
Hover or tap a name to highlight its co-authors. Double-click to open the author's page.
University of Sri Jayewardenepura
University of Colombo
Different organisations
Same organisation
Affiliation unknown
Thicker line = more joint articles · bigger circle = more articles
Show as table
Co-author
Organisation
Joint articles
Affiliations come from OpenAlex; journal OAI-PMH metadata carries none. Authors without an OpenAlex ID are matched by name, which can merge or split people.