Modelling and Design a Self-Balancing Dual-Wheeled Robot with PID Control

This article presents the design and control of a Segway robot based in a dual-wheeled platform that is kept in balance based on the inverted pendulum system; this has 2 points of balance: the bottom gives stability to the robot and the top is the unstable part. The goal of the platform is intended to stay upright; for doing so, the electronics components are placed on top in order to generate the signals from the controller & sensors to the motors. It was developed by means of an Arduino controller, in conjunction with an accelerometer and gyroscope to estimate and obtain the angle of inclination to make the determine motion of the robot. It works through cell phone apps with a Bluetooth and Wi-Fi connection. On the other hand, the paper presents the physical and mathematical theory for support its operation.