Two Wheeled Self-Balancing Robot

Abstract

This paper reports the design, construction and control of a two-wheel self-balancing robot. Two wheeled balancing robots are typical example of unstable dynamic system. Understanding the theory of inverted pendulum are initial steps in developing this project. A balancing robot’s structure has two different sections. The first section contains the moving parts or the wheels and the second section contains the rigid parts or chassis. An initial physical structure is designed and built and robot’s specifications are measured for developing the mathematical model of two-wheeled balancing robot. Tilt sensor and gyroscope provide the feedback of the closed loop system. Two wheeled balancing robot has some key parameters that are directly engaged with system’s performance and response. Kalman filter is implemented for fusing the gyroscope angular rate and tilt angle. A proportional-integral-derivative (PID) controller is designed to generate the required input for motor controllers to control the rotation of wheels based on the Kalman’s filter output.