Design and implementation of two-wheeled self-balancing vehicle using accelerometer and fuzzy logic

Abstract

Two-wheeled self-balancing vehicle commercially known as “Segway” is a promising upcoming mode of transportation in many fields viz. corporate worlds, tourist place, medical field, or for personal use. In this paper, a control strategy and sensor-based control of two-wheeled self-balancing vehicle is proposed. The concept of the stabilizing the vehicle is inspired from the inverse pendulum theory. Based on steady-state space mathematical model, the entire system control is divided into two subsystems: self-balance control system (forward or backward motion balancing) and yaw control system (left or right movement). The control strategy used is fuzzy logic and is applied to both subsystems. A prototype model of the self-balancing vehicle is developed and the proposed mathematical model and control logic are verified by testing on the developed prototype.