A Cascade PD Controller for Heavy Self-balancing Robot

  • Michał OkulskiEmail author
  • Maciej ŁawryńczukEmail author
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 743)


This paper describes control system for dynamic equilibrium finding of a self balancing (two-wheeled) heavy robot. Two cascade-connected Proportional-Derivative (PD) controllers are used to balance the robot and keep the desired driving speed (or standing still). A simple and efficient algorithm for tilt calculation takes data from three sensors: a gyroscope, an accelerometer and a contactless magnetic encoder. The PD controller output is combined with manual (remote) driving signals to control Electronic Speed Controllers (ESC) of two high-torque electric motors. Finally, experimental results and recommendations to cope with difficulties are discussed.


Self-balancing robot Cascade PD controller Gyroscope Accelerometer Feedback control 


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Copyright information

© Springer International Publishing AG 2018

Authors and Affiliations

  1. 1.Institute of Control and Computation EngineeringWarsaw University of TechnologyWarsawPoland

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