Design and Implementation of Two-Wheel Self-Balancing Robot Using PD Controller

References

[1] V. Kumar et al., “Design, Dynamic Modelling, and Control of a Two-Wheeled Self-Balancing Robot,” IEEE Access, 2022.

[2] M. S. Mahmoud et al., “Robust Control Design of Wheeled Inverted Pendulum Assistant Robot,” ISA Transactions, 2017.

[3] D. Pandey et al., “Self-Balancing Robot on Two Wheels with Line Following Capability,” International Journal of Engineering Research, 2021.

[4] J. H. Park et al., “Development of a Self-Balancing Robot with a Control Moment Gyroscope,” Robotics and Autonomous Systems, 2018.

[5] J. J. Castillo-Zamora et al., “Comparison of PD, PID and Sliding-Mode Controllers for Stability,” IEEE Access, 2018.

[6] Maheshan C M, et al., " Feed-forward neural network approach in navigation control and PI speed control of mobile robot," International journal of electrical and electronics -2016.

[7] Maheshan C .M, et al., " Line Tracking Robot Using Labview," IJSART ,2018.

[8] Maheshan C .M ,et al., " Feed-forward neural network approach in navigation control and PI speed control of mobile robot," International journal of electrical and electronics research 4 (3), 95-101,2015.

[9] Harsha Govindray Vernekar and C. M. Maheshan, " Flow rate Controlled Water Sprinkler using myRIO controller and LabVIEW ," Journal of Electrical Engineering and Automation 2022.

[10] Durgesh Pandey et al., "Self balancing robot on two wheels with line following capability," International Research Journal of Modernization in Engineering Technology and Science, January 2021.

[11] Muhammad Junaid Rabbani et al., "Trajectory Tracking and Stabilization of Nonholonomic Wheeled Mobile Robot Using Recursive Integral Backstepping Control," https: //www.mdpi.com/journal/electronics, July 2021.

[12] F. Grasser, A. D et al., "JOE: A mobile, inverted pendulum," IEEE Trans. Ind. Electron., vol. 49, no. 1, p.107-114. Feb. 2002.

[13] Nguyen Gia Minh Thao et al., “A PID backstepping controller for twowheeled self-balancing International Forum robot," 10.1109/IFOST.2010.5668001. on Strategic Technology 2010, Ulsan, 2010, pp. 76-81.

[14] W. An and Y. Li, “Simulation and control of a two wheeled self-balancing International Conference robot," 2013 IEEE on Robotics and Biomimetics (ROBIO), Shenzhen, 2013, pp. 456-461.

@article{1714038,
      author = {Chaitra S, Dr. Maheshan C M},
      title = {Design and Implementation of Two-Wheel Self-Balancing Robot Using PD Controller},
      journal = {Iconic Research And Engineering Journals},
      year = {2026},
      volume = {9},
      number = {8},
      pages = {97-101},
      issn = {2456-8880},
      url = {https://www.irejournals.com/formatedpaper/1714038.pdf},
      abstract = {In order to maintain upright stability, two-wheel self-balancing robots belong to a type of underactuated, intrinsically unstable systems that need constant feedback control. The design, modelling, and practical implementation of a two-wheel self-balancing robot employing a proportional-derivative (PD) control approach are presented in this study. An inverted pendulum supported by two driven wheels serves as the model for the robot. An inertial measuring device made up of an accelerometer and gyroscope provides real-time orientation feedback. To fuse sensor data and reduce noise and drift, a complementary filter is used. LabVIEW is used to build the control algorithm on an NI myRIO platform, where the PD controller produces pulse-width-modulated motor commands. According to experimental data, the PD controller can achieve stable balancing with low oscillations and a quick transient response when the gain is tuned appropriately. The paper demonstrates that classical PD control provides a dependable and computationally effective solution for self-balancing robotic platforms, making it appropriate for real-time embedded control, prototype-level, and instructional applications.},
      keywords = {Self-balancing robot, inverted pendulum, PD controller, sensor fusion, NI myRIO.},
      month = {February},
      doi = {https://doi.org/10.64388/IREV9I8-1714038}
  }