Self-balancing Robot Control Using Fractional-Order PID Controller

Abstract

This paper presents a two-wheeled robot control that can balance upright on its own by controlling the angular speed of the motor to keep the robot upright using measured data from the gyroscope sensor. The aim of this study is to demonstrate the design of fractional-order PID controller (FOPID) that has more controllability and the ability to adjust outperform traditional PID controller. The design of optimal FOPID controller based on integer-order PID parameters are explained and validated its performance compared with the traditional PID controller using Matlab simulation. As well as the real system experiment is implemented on Raspberry Pi using IIR filters cascaded second-order section form II. The study revealed the appropriate concept of implementation of FOPID on the real system.