Segway Robot

Student in 2.004: Dynamics and Control II at MIT

Lee, MA

September-December 2021

2.004 is the core MIT MechE controls class, covering a range of topics for modeling, analysis, and control of dynamic systems. This includes lumped parameter models for system modeling, linear systems theory, Laplace transform, transfer functions, block diagrams, closed-loop response, and PID compensation.

Controlling the Segway Robot

For my final project, I designed and implemented a full-state feedback controller using Arduino to make a two-wheeled self-balancing robot (a.k.a., Segway robot) follow a circle and Figure 8 since it was open-loop unstable. I was one of 6 out of 37 students recognized for creatively controlling their robot.


Figure 8