Movement control of two wheels balancing robot using cascaded PID controller

Balancing robot which is proposed in this paper is a robot that relies on two wheels in the process of movement. Unlike the other mobile robot which is mechanically stable in its standing position, balancing robot need a balancing control which requires an angle value to be used as tilt feedback. The balancing control will control the robot, so it can maintain its standing position. Beside the balancing control itself, the movement of balancing robot needs its own control in order to control the movement while keeping the robot balanced. Both controllers will be combined since will both of them control the same wheel as the actuator. In this paper we proposed a cascaded PID control algorithm to combine the balancing and movement or distance controller. The movement of the robot is controlled using a distance controller that use rotary encoder sensor to measure its traveled distance. The experiment shows that the robot is able to climb up on 30 degree sloping board. By cascading the distance control to the balancing control, the robot is able to move forward, turning, and reach the desired position by calculating the body's tilt angle.