adamgarcia4 / 162e-project

State-Space Controls System for 2D inverted pendulum "Ballbot".

162E-Project

This repo contains the control system that was designed to stabilize our Senior Design Project, the Ballbot. The Ballbot is a prototype for a novel transportation device - one that allows for omnidirectional motion of the platform by balancing on top of a ball.

The controls system accomplishes stability by simultaneously performing two PID control loops on different cross-sections of the robot.

The final design presentation which details the mechanical design as well as the controls design can be found here.

A video of the ballbot in action can be found here.

This code is free for use. Modify how you see fit. As always, if there are any questions, please contact me and I will be happy to share further information.