期刊名称：International Journal of Advances in Engineering and Management
电子版ISSN：2395-5252
出版年度：2021
卷号：3
期号：7
页码：3503-3506
DOI：10.35629/5252-030733483355
语种：English
出版社：IJAEM JOURNAL
摘要：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, by PID and LQR-based PI-PD control designs respectively, and are performed on the linearized equations of motion. Experimental results show that self-balancing can be achieved with PI-PD control in the vicinity of the upright position.
