Ms. P.S. Manoharan & Mr. R.A.R. Prabhakara Dr. Dinesh Kodituwakku & Dr. Achala Pallegedara
Self-balancing devices involve many basic topics regarding stabilization in control theory. It is related to many real-life applications such as missile launching systems, balancing systems like human walking (Segway), Aircraft landing pad in sea, two-wheel balancing robots, etc. Two-wheeled Segway is an inherently unstable and non-linear system which requires a control system to remain balanced in the upright position based on the theory of Inverted Pendulum (IP) control model. In this study the stabilization in an inverted position of a pendulum setup is accomplished through implementing PID controllers based Disturbance Observer (DOB) control technique and the study is used to extend to development of a Segway system. Mathematical models of the IP and the Segway are developed using force analysis followed by state space approach. PID based DOB control algorithm is implemented in a single board computer and the feedback from the systems are monitored through the data acquisition from encoders, gyroscope along with current sensing module where data will be allowing estimation of external disturbance and compensating by feed-forward to the system.