Balancing wheeled robot

Abstract

Inverted pendulum has long been the interest of control engineers. The concept of two wheeled balancing robot is based on the inverted pendulum theory. A suitable control system is needed to control the system so that it is balanced and stable. The main purpose of this project is to use a good control strategy to keep the body of the robot upright. This dissertation applies the idea of non-linear control strategy and analyses its effectiveness. The non-linear control strategy requires a good understanding of the inverted pendulum system. The knowledge is then implemented in programming to program the microcontroller. This is particularly important in low-level assembly language, which is used in this project.