Design and Control of the Two-wheeled Self-Balancing RobotUsing Microcontroller

Özcan B. C. , Karahan O. , Ayyildiz B.

Proceedings of 10th International Symposium onIntelligent Manufacturing and Service Systems, Sakarya, Türkiye, 9 - 11 Eylül 2019, ss.897-904

  • Basıldığı Şehir: Sakarya
  • Basıldığı Ülke: Türkiye
  • Sayfa Sayıları: ss.897-904


In this paper, a two-wheeled robot is designed and implemented by using the microcontroller base on STM32F4. The system is modeled in MATLAB SIMULINK by using waijung blocks and real-time control of the two-wheeled robot is performed for two different controller type. The results for the classical Proportional-Integral-Derivative control (PID) and computationally non-complex, model free Intelligent Proportional-Integral-Derivative control (iPID) methods are compared with real time experimental studies.