This research not only describes the design and implementation of two - wheeled self - balancing robot, but also shows how to simulate the platform in Simulink Matlab using Proportional– Integral–Derivative (PID) cascade control rule, then compares it with reality platform. A Kalman filter is used for state reconstruction in the final implementation. | Tạp chí Phát triển Khoa học và Công nghệ, tập 20, số K3-2017 45 Controlling two-wheeled self-balancing robot moving on inclined plane Nguyen Duc To Abstract—This research not only describes the design and implementation of two - wheeled self balancing robot, but also shows how to simulate the platform in Simulink Matlab using Proportional– Integral–Derivative (PID) cascade control rule, then compares it with reality platform. A Kalman filter is used for state reconstruction in the final implementation. A cascaded PID control algorithm was proposed to combine the balancing and movement. The movement of the robot is controlled by using a distance controller that use rotary encoder sensor to measure its traveled distance. Besides the robot is able to move forward, backward, turning and reach the desired angle position by calculating the body's tilt angle. The experiment shows that the robot is likely to climb up slope with upon 25 degrees. Last but not least, this research also shows how to control the robot by using smartphone and C# form on laptop. aims to make the robot platform with a cheaper budget, better results and providing feedback with all the angles and position values in detail for evaluation and comparison. After that, the platform can be used in lab rooms at HCM City University of Technology. The structure of this paper is as follows: Section 2, an overview of the proposed method is presented to explain the whole procedure. This section also discusses each step of the proposed algorithm in detail. Design and construction of experimental models of the robot show in Section 3. Experimental results of the proposed system are presented in Section 4. Finally, Section 5 concludes the paper with suggestions for future research. Index Terms— Algorithm, PID cascade, C#. 1 INTRODUCTION T he two-wheeled self-balancing robot has the characteristics of flexible and simple structure, working well in a small space, especially in the poor working .
