Optimization of robot stabilization response with PID control

¹ Department of Mechatronics Engineering, Faculty of Engineering, Universitas Trunodjoyo, Madura
² Department of Information System, Faculty of Engineering, Universitas Trunodjoyo, Madura
³ Department of Informatics Engineering, Faculty of Engineering, Universitas Trunodjoyo, Madura

^* Corresponding author: faikul@trunojoyo.ac.id

Published online: 22 December 2025

Abstract

The stability of balance is needed on tools or workpieces, especially in the field of robotics. In this study, it tries to apply balance stability settings to a robot, namely a two-wheeled balancing robot. This two-wheeled robot balancing is an extension of the inverted pendulum model that is placed on a wheeled carriage. This study applies a control strategy to keep the robot in an upright position and has a fast response to return to a specified point. Robot balancing in this study discusses balancing a robot with two wheels as a balance driver which is located on the right and left of the robot. The concept of balance applied in this research is that the robot will try to balance itself, so that the robot is in an upright position which will continue to be repeated until it finds the desired set point. In order to add a robot that requires controlling a DC motor that has received input from the IMU sensor that can read the angle of the robot. The angular change in the robot is then calculated by the PID to produce a fast and precise response. This process is repeated until the robot is perpendicular to the plane. The test results of the balancing robot with the large PID method, the accuracy of the tool in the trial is believed to be 99.87%, so it can be said that the balancing robot can work well.