Final assembly of the self-balancing segway robot
Robot balancing by itself!
Materials used to assemble the segway robot
Modeling and Control Methods
Loop for segway robot
Mechanical properties of the segway robot
Inverted pendulum model
Inverted pendulum with moving cart model
Control System Designer for PD Controller
Compensator Editor for PD Controller
Control System Designer for PID Controller
Compensator Editor for PID controller
Better performance was seen with the PID and state feedback controllers rather than PD controllers.
PD Controller - segway robot doesn't fall over when it crashes!
PID Controller - great stability and segway robot doesn't fall over when it crashes!
Square wave setpoint
Sine wave setpoint
State feedback control