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Self Balancing Bot

This project aims to design, construct, and implement the control of a two-wheel self-balancing robot using PID and LQR Controller.

The two-wheeled self-balancing robot, also known as the inverted pendulum and cart model, is a popular model in control system experiments. It is a multi-input and multi-output system that has theoretical significance and has been applied in many systems in daily use.

Project Components

  • Hardware:

    • Pair of DC motors
    • Motor controller
    • Arduino microcontroller board with built-in 3-axis gyroscope and a 3-axis accelerometer
    • Encoders for drift and linear velocity determination

  • Software:

    • Complementary filter to compensate for accelerometer noise and gyro drifts
    • Implementation of PID and LQR controllers
    • Testing conducted through simulation on Simulink and MATLAB

Implementation

Algorithm:

Algorithm

Model:

Model

Usage

  • Copy the files in the "Libraries" folder to the Arduino Library folder in your PC.
  • Compile and Upload SelfBalanceRobot.ino to your Robot

Report

For further details, please refer to the Report.pdf.