Servo state feedback control of the self balancing robot using MATLAB

Abstract

In this paper, the servo state feedback control of the self balancing robot is proposed. Balancing robot system to control is used ADXL3xx accelerometer as sensors to measure the angle and angle changes and then sends signals to the Servo motor for robot can balance the stability, respectively. Self Balancing robot control are application of MATLAB / Simulink program which served to simulation the process system and control self balancing robot in real-time by FiO board. More importantly, the robot system use Servo state feedback control that is implemented on FiO Board. Finally, the results from simulation with the experimental results from to comparison. The results shown that servo state feedback control system designed and implement to the FiO Board can stabilize the self balancing robot are satisfied. © 2012 ICROS.