Fast Two-Wheeled Balancing Robot

This paper analyzes the dynamics of two-wheeled balancing robot with additional degree of freedom which allows higher speed in turns and operation on non-even surfaces compared to conventional two-wheel robots. The attitude of the robot is measured by sensor fusion of the gyroscope and accelerometer, the position of the robot is estimated using odometry. The control system is based on cascade of discrete PID controllers with non-linear adaptors. The control system has been designed by simulation and verified on real hardware.