STUDY AND DESIGN OF SELF-BALANCING ROBOT

Abstract

This thesis aims to design and build a self-balancing two-wheeled robot. The robot has been modeled, where kinematics and detailed dynamics are developed. The robot's dynamics are based on Lagrangian mechanics. The kinematics and dynamics of the robot were built and tested using Matlab Simulink. Linearized equations of motion are derived and the overall model of the two-wheeled self-balancing robot is represented in state space. Two types of controllers were used; PID and Fuzzy Controller, and both had their pros and cons. A prototype of the robot has been built. the robot is driven by an Arduino board