Attitude Control and Stabilization of a Two-Wheeled Self-Balancing Robot

摘要

The paper demonstrates development of attitude control and stabilization technique of a self-balancing robot. The main aim is to ensure its vertical stability, even in the presence of an external bounded impulsive force. By electronically programming a hard-coded vertical reference position, the proposed robotic system can be balanced at the desired set-point angle. The orientation and the extent of inclination of the robot body in either direction are measured with inertial-sensor based feedback. The proposed system uses a combination of first-order spatial filters in order to remove the noise and to merge the analog sensor readings. Comparative performance analysis is also done between a simple PID controller and an auto-tuned PID controller for the optimization of attitude control and stabilization of the self-balancing platform.