STUDY AND DESIGN OF SELF-BALANCING ROBOT
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Date
2021
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université Ghardaia
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
Description
Keywords
Self-balancing robot; inverted pendulum; kinematics; dynamics; state space; PID; Fuzzy control, Arduino.