INTELLIGENT CONTROL OF TWO WHEEL SELF BALANCING ROBOT

Abstract

The self-propelled robot is based on the principle of the Modified pendulum, which is a two wheel-drive vehicle with a vertical position vertically. Contains both hardware and software implementation. A machine model based on the design of the cart circuit space, the pendulum system. To find its stable distorted position, I used a standard feedback controller (i.e., a PID controller). By nature, we have to control both the angel of the pendulum and the position of the chariot. The Simulink model applied in this project uses PID controller to provide the necessary control action required for the cart to remain stable. For the control parameters for PID I have used different tuning methods. These tuning methods are encoded in MATLAB and the results from there are used in the Simulink model. For extra comparison of controllers, I have used LQR controller to observe the difference I control techniques in linear and nonlinear control models. These parameters are considered as the system parameters and determine the external power required to measure the robot upwards. It will be prevented from falling by giving acceleration to the wheels according to their inclination. If the board is tilted at an angle to the wheels; the robot's weight center will receive artificial power that will use torque opposite the slope.