Self-balancing robot: modeling and comparative analysis between PID and linear quadratic regulator

<p>A two-wheeled self-balancing robot (TWSBR) is an underactuated system that inherently nonlinear and unstable. While many control methods have been introduced to enhance the performance, there no unique solution when it comes hardware implementation as robot’s stability highly dependent on accuracy of sensors robustness electronic systems. In this study, a TWSBR controlled by embedded NI myRIO-1900 board with LabVIEW-based scheme developed. We compare performance between proportional-integral-derivative (PID) linear quadratic regulator (LQR) schemes which are designed based TWSBR’s model constructed from Newtonian principles. A hybrid PID-LQR then proposed compensate for individual components’ limitations. Experimental results demonstrate PID more effective at regulating tilt angle in presence external disturbances, but necessitates higher velocity sustain its equilibrium. The LQR other hand outperforms terms maximum initial angle. By combining both schemes, significant improvements can be observed, such increase reduction settling time.</p>