International Journal of Engineering Research in Electrical and Electronic Engineering (IJEREEE)

A new Design and Control of a Two-Wheel Self-Balancing Robot using the Arduino Microcontroller

Author : S.Manikandan ¹ Reshma ² G Vani prasanna ³ Ch Swetha ⁴ V S Hariharan ⁵

Date of Publication :21st February 2018

Abstract: In the last decade, the open source community has expanded to make it possible for people to build complex products at home. [1] In this thesis a two-wheeled self-balancing robot has been designed. These types of robots can be based on the physical problem of an inverted pendulum [2]. In this paper, we can see the design, construction and control of a two-wheel self-balancing robot. This system consists of a pair of DC motor and an Arduino UNO R3 microcontroller board, make a robot which can balance itself on two wheels the platform will not remain stable itself. Our job will be to balance the platform using distance sensors and to maintain it horizontally. At first, we have decided to just balance the robot on its two wheels

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1. Arduino. [Online]. Available: http://arduino.cc
2. D. Arndt, J. E. Bobrow, S. Peters, K. Iagnemma, and S. Bubowsky, “Two-wheel self-balancing of a four-wheeled vehicle,” IEEE Control Systems Magazine, vol. 31, no. 2, pp. 29–37, April 2011.
3. R. Fierro, F. Lewis, and A. Lowe, “Hybrid control for a class of underactuated mechanical systems,” IEEE Transactions on Systems, Man and Cybernetics, Part A: Systems and Humans, vol. 29, no. 6, pp. 649–4, nov 1999.
4. K. Xu and X.-D.Duan, “Comparative study of control methods of single-rotational inverted pendulum,” in Proceedings of the First International Conference on Machine Learning and Cybernetics, vol. 2, 2002, pp. 776–8.
5. F. Grasser, A. D’Arrrigo, S. Colombi, and A. C. Rufer, “JOE: A mobile, inverted pendulum,” IEEE Transactions on Industrial Electronics, vol. 49, no. 1, pp. 107–14, 2002.
6. D. P. Anderson. (2003, Aug.)nBot balancing robot. Online.[Online]. Available: http://www.geology.smu.edu/ dpa-www/robo/nbot
7. J. Sarik and I. Kymissis, “Lab kits using the Arduino prototyping platform,” in IEEE Frontiers in Education Conference, 2010, pp. T3C– 1–5.