Mini Arduino Segway

This project involved designing a system to control a miniature Segway robot. The process began with deriving the system dynamics, including inverse kinematics to calculate the required wheel motions for balance and navigation. Since the system was inherently nonlinear, it was linearized to simplify control design. A control law was developed to maintain stability and enable smooth operation. A simulation model was built in MATLAB and Simulink, allowing for parameter tuning and testing. Experimental data were collected using an Arduino to validate the model and refine the system’s performance. After iterative adjustments, the Segway successfully maintained balance and responded to inputs. This project showcased expertise in inverse kinematics, nonlinear system analysis, control theory, and simulation-based optimization.