Design and implementation of two-wheeled self-balancing mobile robot control system based on STM32-MAT and Android
A two-wheeled self-balancing mobile robot (TWBMR) represents a complex motion control system characterized by multi-variable, nonlinear, high-order, strong-coupling dynamics, and intrinsic instability. Aiming at the complexity of system development, this paper proposes an embedded software developme...
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| Vydáno v: | Journal of Measurements in Engineering Ročník 13; číslo 3; s. 596 - 616 |
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| Médium: | Journal Article |
| Jazyk: | angličtina |
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JVE International Ltd
01.09.2025
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| ISSN: | 2335-2124, 2424-4635 |
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| Abstract | A two-wheeled self-balancing mobile robot (TWBMR) represents a complex motion control system characterized by multi-variable, nonlinear, high-order, strong-coupling dynamics, and intrinsic instability. Aiming at the complexity of system development, this paper proposes an embedded software development approach based on model-based design (MBD) using Matlab/Simulink. By integrating a control strategy that combines a digital motion processing (DMP) attitude solver with a PID control algorithm, and leveraging the Android platform along with a Bluetooth communication module for online parameter tuning, effective self-balancing control of the TWBMR is achieved. Experimental results demonstrate that the system exhibits high accuracy in Bluetooth-based data transmission and reception, excellent control precision, robust system stability, and rapid time response. The main contribution of this paper is to make focus on concretely building a unique model architecture of the TWBMR control system able to implement all the major aspects of MBD methodology such as executable requirements and Processor-In-the Loop (PIL) simulation modes, verification and automatic code generation. It is a great advantage to develop the system faster and more efficiently, shorten the prototyping process. |
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| AbstractList | A two-wheeled self-balancing mobile robot (TWBMR) represents a complex motion control system characterized by multi-variable, nonlinear, high-order, strong-coupling dynamics, and intrinsic instability. Aiming at the complexity of system development, this paper proposes an embedded software development approach based on model-based design (MBD) using Matlab/Simulink. By integrating a control strategy that combines a digital motion processing (DMP) attitude solver with a PID control algorithm, and leveraging the Android platform along with a Bluetooth communication module for online parameter tuning, effective self-balancing control of the TWBMR is achieved. Experimental results demonstrate that the system exhibits high accuracy in Bluetooth-based data transmission and reception, excellent control precision, robust system stability, and rapid time response. The main contribution of this paper is to make focus on concretely building a unique model architecture of the TWBMR control system able to implement all the major aspects of MBD methodology such as executable requirements and Processor-In-the Loop (PIL) simulation modes, verification and automatic code generation. It is a great advantage to develop the system faster and more efficiently, shorten the prototyping process. A two-wheeled self-balancing mobile robot (TWBMR) represents a complex motion control system characterized by multi-variable, nonlinear, high-order, strong-coupling dynamics, and intrinsic instability. Aiming at the complexity of system development, this paper proposes an embedded software development approach based on model-based design (MBD) using Matlab/Simulink. By integrating a control strategy that combines a digital motion processing (DMP) attitude solver with a PID control algorithm, and leveraging the Android platform along with a Bluetooth communication module for online parameter tuning, effective self-balancing control of the TWBMR is achieved. Experimental results demonstrate that the system exhibits high accuracy in Bluetooth-based data transmission and reception, excellent control precision, robust system stability, and rapid time response. The main contribution of this paper is to make focus on concretely building a unique model architecture of the TWBMR control system able to implement all the major aspects of MBD methodology such as executable requirements and Processor-In-the Loop (PIL) simulation modes, verification and automatic code generation. It is a great advantage to develop the system faster and more efficiently, shorten the prototyping process. Keywords: two-wheeled self-balancing mobile robot, model-based development, parallel PID tuning, STM32 microcontroller, Android platform, Bluetooth control. |
| Audience | Academic |
| Author | Zhai, Wenzheng Dong, Liangwei |
| Author_xml | – sequence: 1 givenname: Wenzheng surname: Zhai fullname: Zhai, Wenzheng – sequence: 2 givenname: Liangwei surname: Dong fullname: Dong, Liangwei |
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| Title | Design and implementation of two-wheeled self-balancing mobile robot control system based on STM32-MAT and Android |
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