Balancing a Monowheel with a PID controller

Abstract: This bachelor’s thesis aimed to create a self balancing monowheel, a vehicle type consisting of one wheel, using a PID controller. The wheel is equipped with an accelerometer to gather data about the tilt of the construction, which is then filtered using a Kalman filter. A DC motor is propelling the monowheel forward whereas a stepper motor with a battery pack attached will actively balance the wheel with the help of a PID-controller. This method of balancing had limited success allowing the vehicle to travel for up to 7 seconds before falling over, compared with up to 4 seconds with no balancing implemented.