It contains the general control theory or mathematics involved behind the segway robot. This was

1. Segway Robotics
An Introduction using Control
Theory

2. • Segway robot is a complicated robotic system. It is a type of robot which
balance on two wheel.
• The first Segway robotics based model was introduced in market by
DEAN KAMEN with DOUG FIELD.
• Name of product: Segway PT.
• A user commands the Segway to go forward by shifting their weight
forward on the platform, and backward by shifting their weight backward.
• Uses Gyroscopic sensors and fluid-based levelling sensors detect the
weight shift.
Bla Bla Bla ………..

4. Concept behind Segway Robotics
• Segway Robotics is based on classical control theory.
• Works on discrete time system.
• The model of Segway Robot is a combination of both UNICYCLE
MODEL and INVERTED PENDULUM MODEL.

5. Linear System

6. • But all the models are not linear.
• Rather most of them are non-linear in nature

7. Linearization

9. Inverted Pendulum

10. Unicycle

11. Stability
Re(l)<0
Re(l)=0
Re(l)≤0

12. State Feedback

13. Stabilization using Pole Placement

14. Controllability
• Then the system is Completely Controllable
• Pole placement is then possible

15. Segway Robot Again !

17. 6
Therefore, System is not completely Controllable!
But here we can consider only v and w of the uniclycle part
4Now,
Therefore, System is completely Controllable!

20. References

21. Presentation by:-
SHASHANK MISHRA
MAE-II
VISHAL SINGH
MAE-II