Student:	Cemil DABBAH
Supervisor:	Prof. Dr. İsmail Hakkı ALTAŞ
Department:	Elektrik-Elektronik Müh.
Institution:	Graduate School of Natural and Applied Sciences
University:	Karadeniz Technical University Turkey

Title of the Thesis:	Balance Control of a Two-Wheeled Mobile Robot
Level:	M.Sc.
Acceptance Date:	15/5/2020
Number of Pages:	62
Registration Number:	i3765

Summary:

This thesis presents the control of unstable and nonlinear two-wheeled self-balancing

robot using LQG and fuzzy logic control methods in Matlab/Simulation. The control

purpose is to keep the stability of the system around an equilibrium point while the robot is

moving.

A linearized mathematical model is described to obtain a linearized state space

model in order to develop LQG controller to control the angle and position of the robot. An

optimal linear quadratic estimator has been designed to estimate the state variables of the

system and has been connected to an optimal full state feedback regulator (LQR). The

designed controller has been implemented on the nonlinear dynamics model of the robot.

The control algorithm is extended to an intelligent control since fuzzy logic

controller is developed to control the angle of the robot. Also the designed controller is

implemented on the nonlinear dynamics of the robot in Matlab/Simulink.

The simulation results obtained in Matlab/Simulink show that the proposed

controllers are able to achieve the self-balancing of the robot while the wheels keep

moving.