Abstract:
Two wheeled self-balancing robot is example of unstable dynamic system.
Understanding the theory of inverted pendulum is the initial steps in developing this
project. Unstable dynamic system which means that it free to fall forward or
backward without applying forces. The objective of this project is to design and
model symmetrical chassis for the robot and fabricate and testing the robot that
can balance itself and counter disturbances. Accelerometer and gyroscope provide
feedback of the close loops system. Two wheeled self-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.The result of the project is the robot can balance itself when
θ equal to 90° and it will try to balance itself if θ less than 90° or more than 90°.
