Design and Development of the Unicycle Balancing Robot Using Linear Slider

The developing of a balancing robot, especially unicycle robots, is very challenging due to their complexity, highly non-linearity, and unstable dynamics conditions. Maintaining the stability of the unicycle balancing robot on a single contact point with the ground is much more complicated. To get the successful control of the unicycle balancing robot on the point, the choice of correct mechanical system, electrical system and control algorithm are required effectively. This study is dived into each component and combining to interact with harmonious interaction between the parts. To get rid of the uncertainties of the dynamics system, the usage of Sliding Mode Fuzzy Hybrid Controller plays the most crucial role to obtain the advance control capabilities, adaptability, and flexibility. Even with the inaccurate model and disturbances, the Sliding Mode Control (SMC) deals robustness along with the fuzzy logic control, which deals with non-linearities and uncertainties. By combining these two powerful control theories, stability and precision can be succeeded. Creativity is not only to balancing the linear slider unicycle balancing robot (LSUBR) successfully, but also to drive the unicycle robot technology into the new one. The design novelty of this LSUBR can lead to creating new balancing robots, can be fulfill the possibilities of the industries and control sectors. Also, wireless communication is established between MATLAB and LSUBR. The MQ Telemetry Transport (MQTT) is the main communication channel between the MATLAB MQTT client and LSUBR MQTT client through Raspberry PI MQTT server which is based on Mosquitto. The novelty usage of MQTT communication between LSUBR and MATLAB can help the wireless communication sector for the unicycle balancing robot.