Tilt set-point correction system for balancing robot using PID controller

Balancing robot is a robot that relies on two wheels in the process of movement. Basically, to be able to remain standing balanced, the control requires an angle value to be used as tilt set-point. That angle value is a balance point of the robot itself which is the robot's center of gravity. Generally, to find the correct balance point, requires manual measurement or through trial and error, depends on the robot's mechanical design. However, when the robot is at balance state and its balance point changes because of the mechanical moving parts or bringing a payload, the robot will move towards the heaviest side and then fall. In this research, a cascade PID control system is developed for balancing robot to keep it balanced without changing the set-point even if the balance point changes. Two parameter is used as feedback for error variable, angle and distance error. When the robot is about to fall, distance taken from the starting position will be calculated and used to correct angle error so that the robot will still balance without changing the set-point but manipulating the control's error value. Based on the research that has been done, payload that can be brought by the robot is up to 350 grams.