SEBA-ROBOT is a two-wheeled self-balancing robot project for control and autonomous robotics development.
The current work covers the robot dynamics, balance and motion control, and nonlinear simulation.
The implemented work covers three main areas:
- Robot modeling: nonlinear forward, pitch, and yaw dynamics, together with a reduced model and linearization for control design
- Motion control: a robust servomechanism LQR controller for pitch stabilization, forward-velocity tracking, and yaw-rate tracking
- Simulation and evaluation: a nonlinear Simulink and Simscape Multibody model with four documented test cases, result plots, and animations
Dynamics and Velocity-Tracking Control Model
Nonlinear robot dynamics, reduced control model, linearization, and robust servomechanism LQR controller design.
Simulation model configuration, controller settings, test procedures, result plots, and animations.
The controller is evaluated using four closed-loop simulation test cases:
The combined-motion test evaluates simultaneous forward-velocity and yaw-rate tracking while maintaining balance.
combined_motion_tracking.mp4
Plots and simulation animations for all four test cases are available in the simulation documentation.
seba-robot/
├── control/
│ ├── README.md
│ └── simulink/
│ ├── README.md
│ ├── seba_control.slx
│ └── results/
├── docs/
├── hardware/
├── src/
├── LICENSE
└── README.md
control/contains the robot dynamics and controller documentation.control/simulink/contains the simulation model, simulation documentation, and test results.docs/contains supporting project documents.hardware/is reserved for hardware design files.src/is reserved for software and embedded implementation.
The model was developed and tested using MATLAB R2025b with Simulink, Simscape, and Simscape Multibody.
Clone the repository:
git clone https://github.com/ShahinFi/seba-robot.git
cd seba-robotOpen the following model in MATLAB:
control/simulink/seba_control.slx
No separate initialization script is required.
See the simulation documentation for the software requirements, model settings, and instructions for reproducing the four test cases.
Future development will focus on:
- physical robot hardware and embedded control
- motor-current regulation and actuator integration
- encoder and IMU sensing with state estimation
- physical validation of the balance and motion controller
- localization, mapping, UWB positioning, and navigation
This project is licensed under the MIT License.