An In essence, a self-balancing robot is an inverted pendulum. If the center of mass is higher than the wheel axels, it can balance better. A higher center of mass translates to a higher moment of inertia, which translates to a lower angular acceleration. It functions like a self-balancing robot. The experiment necessitates the use of a Raspberry Pi and the L293D driver module. The robot's balance can be achieved with the aid of feedback and a correction factor. The feedback element is the component that informs the Raspberry Pi about the robot's current orientation. The experiment primarily employs a PID controller with gains Kp, Ki, and Kd. PID corrects the difference between the desired and real values. Error is the difference between input and output. By changing the output, the PID controller reduces the error to the smallest value possible. The current tilt of the robot is read by system dynamics and fed to the PID algorithm, which performs calculations to power the motor and hold the robot upright.

Keywords : Self-Balancing Robot; Raspberry Pi; PID Controller; Robot; Feedback Element; Correction Factor