Design and PID Control of Two Wheeled Autonomous Balance Robot

Unluturk A., Aydogdu O., Guner U.

10th International Conference on Electronics, Computer and Computation (ICECCO), Ankara, Turkey, 7 - 09 November 2013, pp.260-264 identifier identifier

  • Publication Type: Conference Paper / Full Text
  • Doi Number: 10.1109/icecco.2013.6718278
  • City: Ankara
  • Country: Turkey
  • Page Numbers: pp.260-264
  • Yıldız Technical University Affiliated: No


In this study, a two-wheeled autonomous balance robot has been designed and implemented practically. A visual computer interface based on Qt-Creator has been created. Thanks to the computer interface, different control algorithms can be performed on the robot easily, control parameters can be set up online, filter algorithms in various structures can be tried and the reaction of these changeable values to the system can be observed. The effects of some controllers such as Proportional (P), Proportional-Integral (PI), Proportional-Integral-Derivative (PID) on developed robot have been viewed successfully. Kalman Filters have been used for a stable control of the system and it has seen that the system can balance itself for a long time with optimum PID control parameters obtained.