Design and control of a two-wheel self-balancing robot using the arduino microcontroller board

@article{Juang2013DesignAC,
  title={Design and control of a two-wheel self-balancing robot using the arduino microcontroller board},
  author={Hau-Shiue Juang and Kai-Yew Lum},
  journal={2013 10th IEEE International Conference on Control and Automation (ICCA)},
  year={2013},
  pages={634-639}
}
This paper reports the design, construction and control of a two-wheel self-balancing robot. The system architecture comprises a pair of DC motor and an Arduino microcontroller board; a single-axis gyroscope and a 2-axis accelerometer are employed for attitude determination. In addition, a complementary filter is implemented to compensate for gyro drifts. Electrical and kinematic parameters are determined experimentally; PID and LQR-based PI-PD control designs, respectively, are performed on… CONTINUE READING
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