Design and control of a two-wheel self-balancing robot

Abstract

Designing the self-balancing two wheeled mobile robots and stabilizing it has gained a lot of momentum in research areas. Instead of complex control system that are mostly scene in these research papers this paper introduces a new design of two wheeled robot structure which fulfils the required level of stabilization without any complex control system. To achieve this, the structure is designed with a vertical straight line motion. After deriving the mathematical model, the model is simulated in Matlab Simulink. The simulation is carried for step, ramp and uneven terrain input conditions.