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International Journal
of Computer Engineering in Research Trends (IJCERT)

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International Journal of Computer Engineering in Research Trends. Scholarly, Peer-Reviewed,Open Access and Multidisciplinary

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Department of ECE, Vimal Jyothi Engineering College, Chemperi, Kannur

-In this paper, we presented the Balance model as a two wheeled self balancing robot that is capable of adjusting itself with respect to changes in weight and position. We developed the Balance System from a single gyroscope and a single accelerometer. The stability of the system is to show the capabilities of the ATmega328P in doing PID loops even with limited accuracy in position readings. PID control system is designed to monitor the motors so as to keep the system in equilibrium. It should be easily reproducible given the right parts and code

Mrs.LEKSHMY.S,ALEESHA GEORGE,ATHIRA C.V."SELF BALANCING ROBOT". International Journal of Computer Engineering In Research Trends (IJCERT) ,ISSN:2349-7084 ,Vol.6, Issue 12,pp.1091-1095 , December- 2015, URL :https2//,

Keywords : Self balancing robot, Accelerometer, Gyroscope, Kalman filter, PID controller, feedback control

[1] Nawawi, S. W., Ahmad, M. N. and Osman, J. H. S (2008) "Real-Time Control of Two-Wheeled Inverted Pendulum Mobile Robot" World Academy of Science, Engineering and Technology 29, 214 - 220. 
[2] Lei Guo , Hong Wang , “PID controller design for output PDFs of stochastic systems using linear matrix inequalities”, IEEE Transactions on Systems, Man, and Cybernetics, Part B 01/2005; 35:65-71,pp.65-71. 
[3] K. Loffler, M. Gienger, F. Pfeiffer, and H. Ulbrich, “Sensors and control concept of a biped robot,” IEEE Trans. Ind. Electron., vol. 51, no.5, pp.972– 980. 
[4] R.S.Meena,Vikas Kumawat(2011) .Controller Design For Servo Motor Using MATLAB .In Proceeding of National Conferences on Advances & Research in Electrical System Technology ( AREST 2011). 
[5] Popescu, Cristina; Paraschiv, Nicolae; Cangea, Otilia.(2011) Comparison Between PID And Fuzzy Controllers Used In Mobile Robot Control annals of daaam & proceedings,jan2011, pp223. 
[6] A. Warnasch, and A. Killen, Low cost, high G, micro electro-mechanical systems (MEMS), inertial measurements unit (IMU) program, IEEE Position Location and Navigation Symposium, 2002, pp. 299- 305.
[7] Andrea Demetlika, Tomislav Tomašić, Mladen Crneković (2012),Self balancing Mobile Robot Tilter.FAMENA issue 3, volume 36. 
[8] Young Soo Suh.(2003) .Attitude Estimation Using Low Cost Accelerometer And Gyroscope Proceedings KORUS 2003. The 7th Korea-Russia International Symposium on Volume: 2, Page(s): 423 - 427. 
[9] D. Simon, Kalman Filtering With State Constraints: A Survey Of Linear And Nonlinear Algorithms, IET Proceediings in Control Theory & Applications,Volume 4, no. 8, pp. 1303-1318.


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