Controlling a Two-Wheeled Self-balancing Robot (TWSBR) with Gyroscope

The paper presents a two-wheeled self-balancing robot (TWSBR) that is capable of performing various tasks such as walking and moving in small spaces. Primarily application of this robot is on a mobile application platform. In addition to being able to perform these tasks, the two-wheeled mobile robot also has the advantage of moving faster than legged robots. This robot is required to keep its stability by continuously moving its two wheels. If a disturbance affects the balance of the robot, it will lose its stability. In addition to affecting the stability of the robot, a disturbance can also put the safety of the device at risk. To address this issue, a gyroscope was used to expand the balance of the two-wheeled robot. When a disturbance is applied, the control moment controller takes into account the estimated disturbance and compensates it. The improved performance of the two-wheeled robot was demonstrated through simulations and experiments. The control moment module was able to maintain its stability even when the wheels moved slightly.