Design and control of a two-wheel self-balancing robot

Norman Zairi, Azuha Syuhada (2024) Design and control of a two-wheel self-balancing robot. Project Report. Universiti Teknikal Malaysia Melaka, Melaka, Malaysia. (Submitted)

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Abstract

Two-wheel self-balancing robots typically have one degree of freedom (1-DOF), limiting their real-world usability, particularly in navigating obstacles and uneven surfaces. A study confirmed this limitation, noting sluggish disturbance rejection and significant oscillations in tilt response. This project aims to design and develop a prototype of 2-DOF two-wheel self-balancing robot using a PID controller. The proposed system focuses on the design and control of a 2-DOF self-balancing robot using a PID controller. The ESP32 microcontroller reads data from the MPU6050 sensor, and NEMA17 stepper motors drive the robot's movement. The ESP32 sends sensor data to Blynk, enabling remote PID control and system tuning without the need to modify the Arduino IDE code directly. Simultaneously, the ESP32 actively sends data to MATLAB for in-depth analysis of PID tuning. Results indicate overall robot performance with varied PID settings and disturbances. The closed-loop control system enhances the robot's real-time balance and trajectory control, effectively adapting to PID parameter changes and external disturbances. This project successfully implemented a PID controller and analysed the impact of PID tuning on the self-balancing robot's response. However, integrating a camera onto the robot could improve the robot’s usefulness for surveillance and monitoring purposes.

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