Design, Fabrication and Control Architecture of Double Wheeled Self-Balancing Robots
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The Self-balancing bot is a multi-variable, naturally unstable and an under-actuated system, driven by dual control torques applied independently to each wheel components. The chassis, indirectly actuated, is prone to strike states of unstable equilibrium, which resorts to failure in maintaining its vertical position. A quick response towards the preceding tilt stabilization requires a certain bandwidth thus, having a possibility of being restricted by the right hand plane pole which imposes a minimum bandwidth limitation on the system. On a separate note, the right hand plane zero associated with the model imposes a maximum bandwidth limitation on the Segway wheel position. As such, a classical conventional loop would result in poor sensitivities. This invokes the need for a control architecture apart from the conventional loop such as the cascade control loop. To further realize and investigate this design in hardware and potentially enhance the controller performance, measures via control tuning, improved state estimation, anti-windup conditions are introduced. We demonstrate the advantages and disadvantages of a conventional loop to project the need for cascade control approaches by using exemplary numerical studies and hardware demonstrations using the help of employed state-of-the-art controllers.