Controllers for balancing two wheeled inverted pendulum robot with PI feedback control

Article Sidebar

PDF
Keywords:
Two-wheeled inverted pendulum PI controller Lagrange equation Manual tuning

Main Article Content

Kittisak Sanprasit
Department of Electrical Engineering, Faculty of Engineering, Khon Kaen University, Khon Kaen 40002, Thailand.
Pramin Artrit
Department of Electrical Engineering, Faculty of Engineering, Khon Kaen University, Khon Kaen 40002, Thailand.

Abstract

Two-wheeled inverted pendulum (TWIP) robot has been widely investigated because the system is nonlinear and unstable. The purpose of this study is to control the balance of TWIP. The PI control is employed because the limitation of hardware. To obtain the PI gain, actual TWIP has been implemented, where Kp = 50 and Ki = 4. The results show that the balance of TWIP can achieved with an error of 0.32°.    

Article Details

How to Cite
Sanprasit, K., & Artrit, P. (2016). Controllers for balancing two wheeled inverted pendulum robot with PI feedback control. Engineering and Applied Science Research, 43, 436–438. Retrieved from https://ph01.tci-thaijo.org/index.php/easr/article/view/70825
Issue
Vol. 43 (2016): Special Issue (S3):The 6th KKU International Engineering Conference 2016
Section
ORIGINAL RESEARCH

Creative Commons License

This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.