Two-wheeled balancing robot with Lego Mindstorm NXT and Matlab

­­­­­­The purpose of this project as a part of my industrial control course is to control a small-scale robot to preserve its stability over two wheels using Matlab Simulink. The control program  is a conventional PID type which utilizes Hitechnic gyroscopic sensor to measure tilt angle and produce proper control signal which is transmitted to the left and right motors .The mechanical structure of the robot is built with Lego Mindstorm NXT 2 bricks.The control program is uploaded into  Lego programmable brick based on ARM technology and it also requires NXT-OSEK type firmware in order to deal with Simulink language.

It’s well mentioning to say NXTway-GS has been great inspiration to my project.

  1. Hi,
    I’ll be happy if you could provide some documentation about the controller you used (gain calculations etc)

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