Self Balancing Robot

This is our wonderful mechatronics course project, where each group of students chose a feedback control system idea to implement. We chose to implement this self-balancing robot after researching multiple complex control systems and we found this one to be the most interesting and challenging, but feasible.

The project needed a lot of time for implementing, tuning and debugging. We spent nights working on it and several hours solving issues, tuning the robot, modelling the system and simulating it. We tackled problems like getting correct results from the MPU6050 sensor, tuning the PID controller, and making the robot move smoothly. We used a complementary filter for the sensor data, and Ziegler-Nichols method for tuning the PID controller.

I learnt a lot from my teammates and friends and I am glad that we had this great experience.

Team members: David Eskoundos, Hadi Elnemr, Ahmed Shaban. (Left to right)

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