Steering control of a self-balancing bicycle

Abstract

Robotics has been widely used in education as a learning tool to attract and motivate students to conduct laboratory experiments in the context of mechatronics, electronics, microcomputers, and control. In this paper, we propose the implementation of a PID control algorithm for a Self-Balancing Bike. The algorithm is implemented on the Arduino Uno microcontroller. The robot should be able to maintain its balance condition while moving. To achieve this goal, we use the MPU6050 gyroscope sensor to read the tilt conditions and use a servo to move the robot's steering wheel which will be used to control the robot's balanced position. From the experiments, the proposed PID controller shows acceptable performance for the robot to maintain its balance position at a given tilt setpoint.