Design, Manufacturing and Testing of a Two-Wheeled Self-Balancing Robot

Abstract

This work presents a self-balancing robot's modeling, manufacturing, and testing. This study aimed to design and construct a robot capable of maintaining balance while stationary and in motion, employing an effective control strategy. The robot's design incorporates sensors, microcontrollers, actuators, and control algorithms. The control strategy involved implementing an LQR (Linear Quadratic Regulator) controller and a Kalman filter for state estimation. The results demonstrate the robot's ability to effectively maintain balance and navigate flat terrain while controlled by a joystick. This study provides valuable insights into the design and control of self-balancing robots.