A guide to implement a two wheeled robot using pole-placement on Arduino

Abstract EN

Practical experiments are a must for students to understand the different components of the control systems.

The financial situation in our country does not make teaching practical control easy.

In this paper a two wheeled robot, is built, modelled, and controlled.

The two wheeled robot is a slightly modified version of the well-known inverted pendulum experiment.

A dc motor with gears is used to balance and move the robot, the motor is derived with the use of an H-bridge.

An accelerometer and a gyroscope are the sensors used to balance the robot.

All the components are connected to an Arduino board which can be programmed to serve either as a controller (the control is on-board) or as a wireless data acquisition card (the control is off board on a nearby host PC) with the help of a Bluetooth module.

This system is similar to systems that use forces at one end such as rockets.

The parameters of the mathematical model are obtained experimentally.

Balancing the robot is successfully achieved via PD controller programmed onto the Arduino board.

An integrator is not used as the PD controller can be used to place the roots at any position as desired, which is proved in this paper.

This robot is aimed to be a platform for students to learn concepts in the field of modern, robust and optimal control.