INNOVATION IN CONTROL SYSTEMS LAB: A LOW-COST SELF-BALANCING ROBOT

Abstract

This paper reports an undergraduateengineering team’s solution to designing and implementinga self-balancing robot control system. The proposedsolution involves implementing a gyroscope andaccelerometer sensor into a proportional and derivativecontrol loop system. The control system is implemented onan R/C car the reasons being the R/C car is a cost effectiveway of purchasing both the motors and the motor controlcircuit and also provides an effective package for the finalproduct. The control system can be placed inside theexisting shell of the car and the robot will be presentable asa demo tool for the university. The sensors that wereselected for the control system require a digital filter andthe Kalman filter was selected for this portion of the design.The microcontroller selected for the control system will runa real time operating system to help control the timing ofthe control loop software.

 

 

Index Terms – Inverted Pendulum, Kalman Filtering, PDController, Self-Balancing Robot.