Unmanned two wheeled bot using feedback linearization

Abstract

In this paper, a bot whose goal is to tilt up and down through an autonomous balance mechanism is designed and implemented. The primary control purpose of the bot is to remain equipoised whenever there is an instability in the balance position due to variation in center of gravity, whereas the goal of secondary purpose is to follow a path and in desired speed. We present investigations into the performance comparison of PID controller and PI-PD controller for a highly nonlinear two wheeled balancing robot. Cogency in practical implementation; control mechanism, improved performance and ability to conquer uncertainties are the main advantages. A comparative assessment of the system performance is presented and vindicated through simulation and experimental results.