Self-Balancing-Robot-with-PSO-based-self-tuned-PID-controller

Self Balancing Robot with PSO based self tuned PID controller.

• Self-balancing robot is simulated as follows:

• Plot of tilt angle and position w.r.t. time is as follows:

Dependencies

• Matlab 2014a

Files description

• cost.m : It contains the cost function which is minimized by PSO and cost is taken is the sum of theta in each iteration
• pd_tune.m : It contains PSO code for tuning PD gains and I-gain is taken 0 as it is not needed at all in this case.
• Self_balancing_robot_simulation.m : It is the main file that simulates the actual self balancing robot

Contributors

• Rahul Kumar, Sajan Kumar

License & copyright

© Rahul Kumar 2019
Licensed under the MIT License