Implementasi Kendali Keseimbangan Gerak Two Wheels Self Balancing Robot Menggunakan Fuzzy Logic

Self balancing robot is a two-wheeled robot that only has two fulcrums so that this robot is an unbalanced system. Therefore, a control system that can maintain the stability of the robot is needed so that the robot can keep in standing position. This study aims to design a self-balancing robot and its control system which improves the robot's performance against the maximum angle of disturbance that can be overcome. The control system used is based on fuzzy logic with 9 membership functions and 81 rules. The control system is applied to the ESP-32 microcontroller with the MPU-6050 sensor as a feedback position of the robot and DC motor as an actuator. Complementary filters are added to the MPU-6050 sensor readings to reduce noise to obtain better robotic tilt angle readings. The improvement of this research compared to previous research based on fuzzy is the addition of the number of membership functions from 7 to 9 and the embedding of a complementary filter on the MPU-6050 sensor output reading. The result shows that the designed self balancing robot which has dimensions of 10cm x 18cm x 14.5cm can cope with the maximum disturbance angle up to 17.5⁰.

A neural network combined with sliding mode controller for the two-wheel self-balancing robot

This article presents the sliding control method combined with the selfadjusting neural network to compensate for noise to improve the control system's quality for the two-wheel self-balancing robot. Firstly, the dynamic equations of the two-wheel self-balancing robot built by Euler–Lagrange is the basis for offering control laws with a neural network of noise compensation. After disturbance-compensating, the sliding mode controller is applied to control quickly the two-wheel self-balancing robot reached the desired position. The stability of the proposed system is proved based on the Lyapunov theory. Finally, the simulation results will confirm the effectiveness and correctness of the control method suggested by the authors.