Control SystemsYear 2026Completed
Self-Balancing Robot 1
A two-wheeled robot that stays upright in real time using an IMU and a PID balance controller.
ArduinoSensor FusionPID ControlControl Theory
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Two-wheeled PID inverted pendulum balancing
Why We Built This
Control theory on a budget — we built this so students can experiment with PID tuning without industrial equipment.
Overview
An inverted-pendulum challenge, this two-wheeled robot reads tilt from an IMU and drives its motors to constantly correct its balance.
Highlights & Key Features
- MPU6050 IMU with complementary filter
- Real-time PID balance loop
- Recovers from small pushes
- Tunable gains for experimentation
The Challenge
Fusing accelerometer and gyro data into a stable tilt estimate, then tuning the PID for fast recovery.
The Outcome
The robot balances and self-corrects; serves as our foundational control theory platform.
Build Gallery & Photos
[4 PHOTOS]
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