Self balancing robot using complementary filter: Implementation and analysis of complementary filter on SBR

Abstract

The Self balancing robot is based on the inverted pendulum concept, wherein an inverted pendulum is positioned on a cart and the cart is allowed to move on the horizontal axis so as to keep the pendulum in the upright position. This is a classic case of an unstable system. The angle measurement with the help of a fusion of gyroscope and accelerometer requires filtering mechanism as both provide erroneous angle results. Kalman filter is one such filter, but the design and implementation of such a filter is lengthy, tiresome and difficult to implement on smaller 8-bit micro controllers. Thus, this paper intends to design and implement a Self balancing robot with the help of a complementary filter and its analysis using different filter coefficients using PID algorithm as the control strategy. The robot is powered with a lithium-polymer battery to drive the motors.