Self Balancing Scooter

Cheng, Tian Shing (2011) Self Balancing Scooter. Final Year Project (Other), Tunku Abdul Rahman University College.

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Abstract

The self balancing scooter is a project that has become very popular in the field of engineering. This project draws on the theoretical principles of the equally popular experiment of the inverted pendulum. The inverted pendulum system, unlike many other control systems is naturally unstable. This unique behavior of the inverted pendulum has drawn interest from many researchers. Due to this unstable condition, a controller has to be designed so that the system reaches stability in the unstable state. The idea of a mobile inverted pendulum robot has surfaced in recent years and has attracted interest from control system researchers worldwide. A two wheel mobile robot in the inverted pendulum model is built. As the robot is mechanically unstable, it becomes necessary to explore the possibilities of implementing a control system to keep the system in equilibrium. This project is divided into three main groups which are the hardware implementation, software implementation, and the control algorithm. The discussion of the developments of each stage is covered in this report.