Self-Stabilizing Mobile Inverted Pendulum (MiP)

This BeagleBone Blue project contains the code and documentation for the Self-Stabilizing Mobile Inverted Pendulum. This was created for UCSD MAE 144: Embedded Controls and Robotics.

Problem 1: Stabilizing Body Angle

The goal of this problem is to develop a model G1(s) as a transfer function from the normalized duty cycle u of the motors to the angle θ of the MiP body in radians. A stabilizing controller D1(s) is designed to keep the MiP upright.

Files

• Stabilizing_Body_Angle.m: MATLAB code to develop the transfer function, plot the angle of the body, design a stabilizing controller, and create a Bode plot.

Problem 2: Stabilizing Wheel Position

This problem involves designing a second controller, D2, to stabilize the wheel position φ. The controller is designed using the successive loop closure method.

Files

• Stabilizing_Wheel_Position.m: MATLAB code to model G2(s), design D2(s), and plot the step responses.

Problem 3: Software Implementation

The software implementation involves modifying the complementary filter code to estimate the angle φ and implementing the difference equations for the controllers D1(z) and D2(z).

Files

• main.c: C code to implement the complementary filter, IMU interrupt function, and outer loop thread.

How to Run

1. Run Stabilizing_Body_Angle.m and Stabilizing_Wheel_Position.m in MATLAB to generate the required plots and transfer functions.
2. Compile and run main.c on your BeagleBone or similar hardware to implement the balancing controllers.

Hardware Used

• BeagleBone Blue.