Two-wheeled self-balancing vehicle commercially known as “Segway” is a promising upcoming mode of transportation in many fields viz. corporate worlds, tourist place, medical field, or for personal use. In this paper, a control strategy and sensor-based control of two-wheeled self-balancing vehicle is proposed. The concept of the stabilizing the vehicle is inspired from the inverse pendulum theory. Based on steady-state space mathematical model, the entire system control is divided into two subsystems: self-balance control system (forward or backward motion balancing) and yaw control system (left or right movement). The control strategy used is fuzzy logic and is applied to both subsystems. A prototype model of the self-balancing vehicle is developed and the proposed mathematical model and control logic are verified by testing on the developed prototype.
S. S. Babu and Dr. Anju Pillai S., “Design and Implementation of Two--Wheeled Self-Balancing Vehicle Using Accelerometer and Fuzzy Logic”, Proceedings of the Second International Conference on Computer and Communication Technologies, vol. 381 . Springer, pp. 45-53, 2015.