Self-balancing Robot Autonomous Control System

Stabilization and balancing are both very important and widespread problems in robotics and control systems spheres of interest nowadays. Understanding the software and hardware aspects of stabilization could be much easier with a good and clear example, such as two-wheeled robot with microcontroller based self-balancing control system, angle of inclination and position feedback sensors and wireless data transmitting module for control algorithm debagging. This paper describes the design of the body, control algorithm and performance results of such two-wheeled vertically self-balancing robot. The robot was designed and assembled in Saint Petersburg Electrotechnical University “LETI” at the automatic control systems department.