Fuzzy-PID Controller for Two Wheels Balancing Robot Based on STM32 Microcontroller

In this paper, a fuzzy-PID controller is proposed to regulate the movement of two wheels balancing robot. The fuzzy-PID controller is a combination of a fuzzy controller and PID controllers for the balancing and movement or distance of the two wheels balancing robot. The fuzzy controller is designed based on relation models for the robot's balancing. The PID controllers are proposed to control the robot's position. The whole fuzzy-PID is ported and run on a real-time operating system using an STM32F4 Discovery Kit. The received results showed advantages of the fuzzy-PID controller.