Design and implementation of a balancing controller for two-wheeled vehicles using a cost-effective MCU

@article{Jean2009DesignAI,
  title={Design and implementation of a balancing controller for two-wheeled vehicles using a cost-effective MCU},
  author={Jong-Hann Jean and Chih-Kai Wang},
  journal={2009 International Conference on Machine Learning and Cybernetics},
  year={2009},
  volume={6},
  pages={3329-3334}
}
In this paper, we present our first trial of developing a tiny-sized and low-cost self-balancing two-wheel vehicle where we mainly focus on design of the sensing and control board and the balancing controller. With the considerations of cost-efficiency, we integrate the sensory systems and the balancing control systems by utilizing an embedded system based on the SUNPLUSTM SPCE061A EMU board and a CPLD, Altera EPM7128SLC84. There are three goals for our design. First, since the system is… CONTINUE READING