Control of balancing mobile robot on a ball with fuzzy self-adjusting PID

Abstract

The on-ball balancing mobile robot is a robot which achieves a full range of movement by rolling the ball, it can work flexibility and freedom in narrow areas. In this paper, a dynamic model is established by using Lagrange method to the on-ball balancing mobile robot. On the basis of PID control, a fuzzy self-adjusting PID control method is proposed to control the robot's balance. The simulation results show that the fuzzy self-adjusting PID controller can achieve the balance control of the ball effectively and has the characteristics of fast response and small overshoot.