Phong-Luu Nguyen1, Van-Dong-Hai Nguyen1*, Minh-Phuoc Cu2, Minh-Quang Nguyen2, Minh-Phuong Trinh2, Duc-Minh Hoang1, Minh-Hanh Pham1, Duy-Bao Hoang1
1 Ho Chi Minh city University of Technology and Education (HCMUTE)
Vo Van Ngan street, No. 01, Ho Chi Minh city, Vietnam
2 Cao Thang Technical College
Huynh Thuc Khang Str, No. 65, Ho Chi Minh city, Vietnam
* Corresponding author. E-mail: hainvd@hcmute.edu.vn
Robotica & Management, Vol. 27, No. 1, pp. 23-27
DOI: https://doi.org/10.24193/rm.2022.1.5
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.
Keywords: One-wheel; self-balance; unicycle; SIMO system; PID control.
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