Self-Balancing-Robot

Description

This is a fuzzy logic based Self-Balancing robot project. We tried to balance the robot using a fuzzy controller. The tilt angle is measured using the MPU6050 accelerometer and gyroscope sensor, it is coupled with a Kalman filter on the controller to estimate the tilt angle theta of the robot. The mathematical model of the robot was derived and the unknown parameters of the DC motors where estimated using MATLAB.Demo link

Circuit Design

Tools Used

• MATLAB
• Arduino IDE

Libraries Used

• Embedded Fuzzy Logic Library (eFLL)
• Kalman filter
• Other Arduino built-in Libraries(I2c, SPI)

Authors and acknowledgment

This robot is built by Ziad Saoud, Roy Sawaya, and Chadi Kallas.