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Self-balancing Robot Control Using Fractional-Order PID Controller

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Figure

Fig.1. The chassis of the robot made by 4 threaded rods,The Structure of the self-balancing robot is shown inlayered with 3 mm acrylic plates for the equipment installed.Raspberry Pi 3 model B is used as the main controllerbecause it’s tiny high-performanc
Fig. 4.Free body diagram of robot’s wheels.
Fig. 7.Angle displacement results compared PID and FOPID controller.
Fig. 10.Angular displacement of robot with PID controller.

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