Implementation of Efficient Self Balancing Robot

Abstract

The two wheeled Self-Balancing Robot is a complex closed-loop control system that autonomously balances itself in place. The aim of this project is to build self-balancing robot using myRIO as the hardware platform. The accelerometer and gyroscope provide a classic inverted pendulum model. The robot uses a complementary filter and a PD (proportional differential) controller with LabVIEW to stand upright. A two-wheeled robot is unstable with the center of mass above the axle without an active mechanism to control it. Building such a system will give prominent challenges in electrical, control and mechanical field to assess the improvement of use and capabilities of myRIO. The important challenges are how much weight the robot can withstand and how effectively the robot can balance under external disturbances.