Simulação e implementação de um sistema físico de pêndulo invertido sobre duas rodas

Abstract

This work presents the design and development of a self-balancing two-wheeled robot. The system uses NEMA 17 stepper motors as actuators, controlled by A4988 drivers and an Arduino Nano microcontroller. Based on a mathematical model from the literature, the system was converted to state-space representation, enabling the development of advanced control strategies. The study includes experimental procedures for estimating the plant parameters, which are essential for the design of the controller and state observer. Finally, a system capable of balancing itself was achieved, both in simulation and on the physical prototype.