TWO-WHEEL SEGWAY BALANCING WITH SIMULATION

Abstract

A two-wheel Segway balancing robot is an inherently unstable robotic system that requires continuous control to maintain an upright position. This project presents the mathematical modeling, simulation, and control of a two-wheel self-balancing Segway robot. The system consists of a rigid body mounted on two independently driven wheels. An Inertial Measurement Unit (IMU) provides angular position and angular velocity information, which is processed by a feedback controller to maintain the body in an upright position. A mathematical model of the Segway is developed using Newton-Euler equations. The nonlinear model is implemented in MATLAB/Simulink, and a PID controller is designed to regulate the body tilt angle. Simulation experiments are performed for initial tilt disturbances and referenceangle changes. The obtained results demonstrate that the controller can bring the robot back to its upright position with small steady-state error and acceptable settling time. The study provides a foundation for developing a practical two-wheel self-balancing robotic platform.