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This paper focuses on modelling, simulation and experimentation of the PID control system for a designed two-wheeled self-balancing robot. Firstly, we concentrate on theoretical research for the two-wheeled self-balancing robot, including developing a mathematical model for the two-wheeled self-balancing robot. Then, the PID controller is designed to stabilize the balance for the two-wheeled robot. Simultaneously, the parameters of PID controllers are calculated and adjusted through Matlab simulation to achieve the best set of PID parameters. In addition, we consider the physical model of the two-wheeled self-balancing robot which allows for measuring and adjusting the tilt angle of the robot, maintaining balance. The results from computer simulations and experiments on the physical model of the two-wheeled robot show that the PID controllers ensure stable balance movements for the two-wheeled robot with position error and tilt angle error less than 1% when simulated and less than 5% when experimented on a physical robot model.

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Design PID Controllers for Self-Balancing Two-Wheeled Robot: Modelling and Experimental Results

  • 会议论文

  • 发表日期：

    2026年

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  • Mien L. Trinh,
  • An V. Vo,
  • Tu D. Nguyen,
  • Huong T. Trinh,
  • Dung H. Dang,
  • Ha T. Vo,
  • Du H. Dao,
  • Minh T. Nguyen

摘要

This paper focuses on modelling, simulation and experimentation of the PID control system for a designed two-wheeled self-balancing robot. Firstly, we concentrate on theoretical research for the two-wheeled self-balancing robot, including developing a mathematical model for the two-wheeled self-balancing robot. Then, the PID controller is designed to stabilize the balance for the two-wheeled robot. Simultaneously, the parameters of PID controllers are calculated and adjusted through Matlab simulation to achieve the best set of PID parameters. In addition, we consider the physical model of the two-wheeled self-balancing robot which allows for measuring and adjusting the tilt angle of the robot, maintaining balance. The results from computer simulations and experiments on the physical model of the two-wheeled robot show that the PID controllers ensure stable balance movements for the two-wheeled robot with position error and tilt angle error less than 1% when simulated and less than 5% when experimented on a physical robot model.