Modeling, control of a two-wheeled self-balancing robot

Abstract

Two wheeled self-balancing robot is based on an inverted pendulum system. This paper describes the development of kinematics model of a two wheeled self-balancing robot and its control using various control techniques. The analysis of the developed kinematic model can be divided into wheel and frame structure, after one is done with design and development of mechatronics system is finalized. The said test platform is two Degree of Freedom highly non-linear and unstable system. Main focus of this research is to develop an efficient controller required to enable the robot to act in real time and test different controllers to analyze their performance by the vertical balance, position, its control signal and disturbance rejection capabilities.