Kinematic Control of 2-wheeled Segway

TL;DR

This paper develops a PD control strategy for a self-balancing two-wheeled Segway by linearizing its nonlinear kinematic equations around equilibrium, validating stability through analysis and simulation.

Contribution

It introduces a control mechanism for the planar Segway by linearizing nonlinear kinematics and implementing a PD controller for stability and balance.

Findings

Open-loop system is inherently unstable.

Linearized control stabilizes the Segway.

Controller response analyzed for non-linear system.

Abstract

The Segway is a popular self-balancing two-wheeled vehicle. In this paper, we present a control mechanism for the planar Segway problem. The open-loop analysis validates the fact that the system is unstable by default and there is a need to design a closed-loop feedback to establish control for the system. This has been done by implementing a PD controller for the multiple-output system. Since the kinematic equations of the system are non-linear initially, the controller has been designed by linearizing the equations about the equilibrium point. Later, the response of the non-linear system is examined using the designed controller.