OSASEMWINHIA OLUWASEFUNMI EGHAREVBA

# Two-Wheel Self-Balancing Robot with Real-Time PID Stabilization ## What I Built A two-wheeled self-balancing robot built using an Arduino Uno, MPU6050 IMU, and L298N motor driver. The robot stabilizes itself in real time using a PID controller and continuously corrects its tilt angle through motor speed adjustment. This project explores embedded systems, control theory, sensor feedback, and real-time motor control. --- ## Components Used * Arduino Uno * MPU6050 IMU * L298N Motor Driver * DC geared motors * Li-ion batteries --- ## Control System The robot behaves similarly to an inverted pendulum system where balance must be continuously maintained through feedback correction. The PID controller computes: ```text error = setpoint - angle ``` and generates a correction output using: ```text U = Kp·e + Ki·∑e + Kd·(de/dt) ``` The output determines motor direction and PWM speed. --- ## PID Values ```cpp kp = 30; ki = 0; kd = 6; ``` --- ## Challenges Faced * PID tuning instability * Motor response inconsistencies * Sensor noise and drift * One-sided balancing behavior * Calibration issues