Fuzzy control of a two-wheel balancing robot using DSPIC

Abstract

This paper is concerned with the design and implementation of a two-wheel balancing robot. The angle and angle change are used as inputs to the robot system in order to calculate the appropriate motor force to balance the robot. ADXL330 accelerometer and two DC motors are used as the sensor and actuators, respectively. More importantly, the robot system uses fuzzy control that is implemented on DSPIC30F2010. The robot under study represents a mechatronic system because it involves an integrated design among mechanics, electronics, and embedded smart controllers. The system model is first tested under Matlab/Simulink. Then, the Printed Circuit Boards are designed, the C-program is written, and the mechanical structure is built. Finally, the robot is built and tested in the laboratory.