Design Implementation of a Two Wheel Self Balancing Robot with a Two Level Adaptive Control
Ammar Wasif, Danish Raza, Waqas Rasheed, Zubair Farooq, Syed Qaseem Ali
Transactions on Machine Design, Vol. 2, No. 1, 2014.
DOI: 
Link: http://www.dline.info/tmd/fulltext/v1n2/1.pdf
Abstract:
An attempt to tackle the inherent instability of the two wheel platform has been made. Control of this unbalanced system is achieved by implementing an adaptive rendition of the classic PD control. The implementation procedure and the relevant theory behind the autonomous balancing and movement of the robot is also demonstrated. The stability and responses of this two wheel self-balancing system is verified by practical results.