Robust Balancing on One-wheeled Human Transporter Based on Rider's Weight Variation Using PID-AFC Method

The study on balancing one-wheeled human transporter has previously done before in numerous studies. The main problem discussed in the study of one-wheeled human transporter is its balancing control system. The variation in the weight of the rider of the one-wheeled self-balancing human transporter becomes an important issue to the balance control system. The weight variation of the rider causes the response from the balance of the transporter become unstable. This paper will provide solution to solve these problems. In this paper a method of control system is presented therefore it provide robustness towards disturbance of rider's weight variation. The control method presented is the Proportional Integral Derivative-Active Force Control (PID-AFC). The PID-AFC method has the advantage of being able to provide robustness to disturbance in a system. This paper will seek for evidence that the PID-AFC can provide robustness towards disturbance, this method is compared to PID method. The experiment was carried out through a simulation with various rider's weights. After the experiment, it was found that the PID-AFC method is able to provide a better balance and provide robustness toward the disturbance of rider's weight variation on one-wheeled human transporters.