TID based Control Algorithim for Robot Balancing

Balancing of Motorized Robots is achieved with a controller tuned for the system to maintain stability. Motorized robot is developed based on the principle of Inverted pendulum various controllers have been implemented and tested. Tilt based control is new control technique its application being in power systems research area. The Tilt based controllers for robotic applications might help in improving overall system performance. But Tilt based controllers are good at attaining stability within a quick period, these characteristics can be taken advantage in robotic applications. Tilted Integral Derivative (TID) and PID Controller is tuned with respect to the mathematical model. The motorized robot is modeled based on inverted pendulum principle. The system response for both controller is analyzed for change in performance, ISA, IAE, ITAE. The controller response is also visualized with a CAD model of the robot in a simulated environment to analyze the performance.