Design and Control of a Self-Balancing Robot

Abstract

This paper presents the mechanical, electrical, software, controller design and implementation for a two-wheeled robot, having the goal of maintaining it's equilibrium by itself. In order to create this robot, the mechanical structure was designed, such than an exact replica could be constructed using a 3D printer and a laser cutting machine. Having the robot created and the mathematical state-space model defined, the system's parameters were identified and validated. Then, a linear quadratic regulator (LQR) which would achieve auto-balancing was determined. Finally, the closed loop control system was tested in order to evaluate the achieved results.