Modelling, control and simulation for a Two-Wheeled Balancing Mobile Robot System
Keywords:
TWBMR, PID controller, PSO algorithm, System Modelling, MATLAB simulationAbstract
Two-Wheeled Balancing Mobile Robots (TWBMRs) are inherently unstable systems that require an efficient control strategy to maintain balance and ensure satisfactory dynamic performance. This paper presents the optimization of a Proportional-Integral-Derivative (PID) controller using the Particle Swarm Optimization (PSO) algorithm for a TWBMR system. The mathematical model of the robot is derived based on the inverted pendulum concept, and the optimized PID controller is implemented and evaluated in the MATLAB/Simulink environment. The PSO algorithm is employed to determine the optimal PID gains by minimizing the Integral of Squared Error (ISE) performance index. The performance of the proposed PSO-PID controller is compared with the conventional Ziegler-Nichols tuning method using transient response characteristics and performance indices. Simulation results demonstrate that the proposed PSO-PID controller significantly improves the system performance, achieving a rise time of 0.0196 s, a settling time of 0.0637 s, a maximum overshoot of 9.83%, and zero steady-state error. Furthermore, the optimized controller achieves lower performance indices, with IAE = 0.0258, ISE = 0.005079, and ITAE = 0.03032, confirming superior tracking accuracy, faster transient response, and enhanced control performance compared with the conventional tuning approach. In addition, robustness analysis under ±25% system parameter variations demonstrate that the proposed controller maintains stable and satisfactory performance, highlighting its effectiveness and reliability for two-wheeled balancing mobile robot applications.
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