www.tjprc.org editor@tjprc.org DEVELOPMENT OF SELF BALANCING ROBOT WITH PID CONTROL SHUBHANK SONDHIA, RANJITH PILLAI. R, SHARAT S. HEGDE, SAGAR CHAKOLE & VATSAL VORA Department of Mechatronics, SRM University, Kattankulathur, Kanchipuram, Tamil Nadu, India ABSTRACT The paper describes utilization of the classical problem of inverted pendulum and its application to realize self-balancing robot. It is a two wheel vehicle whose structural, mechanical and electronic components were assembled in such a manner that it produced an inherently unstable platform which is highly susceptible to tip off in one axis. The wheels of the robot were capable of independent rotation each driven by a high torque DC motor. Information about the angle of the device relative to the ground was obtained from a 6DOFIMU (Inertial Measuring Unit) sensor which comprises of an accelerometer and agyroscope. Information from the IMU was processed and filtered to obtain accurat evalues which were fed to the micro processor on board. The microprocessor processed the feedback using a PID algorithm to generate position control signals i.e. apply proportional force to the motors as given by the program logic in order to restore the balance or to bring it back to its original vertical position. Two wheeled balancing robots can be used in several applications with different perspectives such as intelligent gardeners and autonomous trolleys in hospitals, transportation in shopping malls, offices, airports, or an intelligent robot. KEYWORDS: Inverted Pendulum, Sensor, Two Wheeled Vehicle, and PID Control Received: Jan 21, 2017; Accepted: Mar 10, 2017; Published: Mar 17, 2017; Paper Id.: IJRRDAPR20171 INTRODUCTION Self-balancing robot has been enormously recognized which is based on electronic device and embedded control and being used as a human transporter in many area. The self-balancing BOT is based on the Inverted Pendulum model (IP). In order to balance at two-wheeled inverted pendulum robot it is necessary to have accurate information of the live tilt angle from using a measurement on it. Furthermore a controller needs to be implemented to compensate for said tilt (Sugie & Fujimoto 1998; Nuo & Hui 2008; Tomasicet al., 2013; Jin 2015, Pillai et al. 2016). An Inverted Pendulum is a classic control problem. The system is non-linear and unstable with one input signal and several output signals. It is virtually impossible to balance the pendulum in the inverted position without applying some external force to the system. A PID-controller can be incorporated to control the pendulum angle, since it is a Single-Input Single-Output (SISO) system. If the robot should be able to be controlled in regard to position, x, as well as the angle, it becomes a Multiple-Input Multiple-Output(MIMO) system and one PID-controller is not enough. Controlling multiple states is conveniently made through a state space controller. Many researchers and engineers are working on inverted pendulum and its application to realize a self- balancing robot because of its unstable nature, high order multi-variables, nonlinear and strong coupling properties and mobility (Kim & Kwom 2011; Balasubramaniam et al. 2016). Self-balancing robot like the Segway (http://www.segway.com) has been absolutely recognized and used as a human transporter especially for policeman. Several companies are coming with specific design of robots. Recently, Lego Company designed as Original Article International Journal of Robotics Research and Development (IJRRD) ISSN(P): 2250-1592; ISSN(E): 2278-9421 Vol. 7, Issue 1, Apr 2017, 1-6 © TJPRC Pvt. Ltd.