2026-09-19T13:31:25Zhttps://dspace.mit.edu/server/oai/requestoai:dspace.mit.edu:1721.1/695002022-01-13T07:54:36Zcom_1721.1_7582com_1721.1_7581col_1721.1_131024
Harry Asada.
Bageant, Maia R. (Maia Reynolds)
Massachusetts Institute of Technology. Dept. of Mechanical Engineering.
Massachusetts Institute of Technology. Department of Mechanical Engineering
2012-02-29T18:21:54Z
2012-02-29T18:21:54Z
2011
2011
http://hdl.handle.net/1721.1/69500
775672333
Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2011.
Cataloged from PDF version of thesis.
Includes bibliographical references (p. 57).
In this thesis, I designed and constructed hardware for a two-wheeled balancing Segway robot. Because the robot could not be balanced based on a control system derived from the original analytical model, additional system dynamics in the form of frictional losses in the motors were incorporated. A SISO PID compensator and a SISO lead-lag compensator were designed to balance the robot based on the new model; both showed acceptable system responses but were subject to high-frequency oscillation. A SISO state feedback controller was also designed, and it was successful in creating stability in simulation and removing the high-frequency oscillation effects. The robot was rebuilt using new parts that better represented its ideal model, and software was created using National Instruments LabVIEW to control the robot.
by Maia R. Bageant.
S.B.
57 p.
eng
Massachusetts Institute of Technology
M.I.T. theses are protected by
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http://dspace.mit.edu/handle/1721.1/7582
Mechanical Engineering.
Balancing a two-wheeled Segway robot
Thesis
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