Control System Design, Analysis & Implementation of Two Wheeled Self Balancing Robot (TWSBR)

Abstract

Self-balancing robot has the ability of locomotion with balancing capabilities. The two wheeled self-balancing robot can rotate to swiftly change its direction of motion and precisely navigate tight gaps as compared to a three or four-wheeled robot. The paper aims to present modeling, analysis and control design of Two Wheeled Self Balancing Robot (TWSBR) using simulation tools and hardware. Mathematical and state space modelling of TWSBR are performed using Lagrange equations. Based on the model, Linear Quadratic Regulator (LQR), Proportional Integral Derivative (PID) and pole placement control methods are anticipated for stabilization and balancing control of the system. A comparative assessment of the controllers is presented after analyzing performance of each controller individually. Based on results and simplicity of controller, PID controller is implemented in hardware. The implemented robust controller design is able to self balance the robot as expected on tuning PID parameters found from simulations. Hardware implementation of TWSBR shows that it has ability of motion with balancing aptitudes and can be used to handle plethora of tasks proficiently as humans do.