Developing and Controlling a Raspberry Pi-Powered Two-Wheel Self-Balancing Robot with Python Programming

Abstract

The paper describes the development and operation of a two-wheeled self-balancing robot with a Raspberry Pi and hub motors. A 3-axis gyroscope and an accelerometer are also included in the system. The paper also presents a complementary filter that can be used to address the issue of gyro drifts. In addition, it explores the design and implementation of LQR and PID control systems on motion linearized by the kinematic and electrical parameters. The results show that the control system can balance properly in proximity to the upright position.