A two-wheeled self-balancing robot with dynamics model

A two-wheeled self-balancing robot based on the inverted pendulum model which is built as a platform to look into the use of a Kalman filter for sensor fusion. As the robot is inherently unstable, it is necessary to implement a control system to keep the system in balanced. This paper examines the stability and evaluates the performance of a PID controller in the self-balancing robot. The main challenging issues are when an external force is applied and reducing vibration in order to improve the stability of the robot. It mainly focuses on the dynamic modeling and PID controller design to reduce the problem. Besides the simulation of the transfer function, poles and zeros, Kalman filter are the cause which determines the performance of the self-balancing robot.