A Review on Two-Wheeled Self-Balancing Robot Using Spartan-3E FPGA for Sensor Fusion and Real-Time Motor Control

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Year : 2026 | Volume : 16 | 01 | Page :
    By

    Sagar Laxmikant Senad,

  • Tejaswini Madan Chaudhari,

  • Varsha Kshirsagar,

  • Prerana Dharmendra Patil,

  • Rohan Narendra Patil,

  1. Student, Department of Electronics and Telecommunication Engineering, RMD Sinhgad School of Engineering, Warje, Pune, Maharashtra, India
  2. Student, Department of Electronics and Telecommunication Engineering, RMD Sinhgad School of Engineering, Warje, Pune, Maharashtra, India
  3. Assistant Professor, Department of Electronics and Telecommunication Engineering, RMD Sinhgad School of Engineering, Warje, Pune, Maharashtra, India
  4. Student, Department of Electronics and Telecommunication Engineering, RMD Sinhgad School of Engineering, Warje, Pune, Maharashtra, India
  5. Student, Department of Electronics and Telecommunication Engineering, RMD Sinhgad School of Engineering, Warje, Pune, Maharashtra, India

Abstract

Two-wheeled self-balancing robots (TWSBR) are a popular application of embedded control and robotics because they operate on the inverted pendulum concept, which is naturally unstable. The main objective of such robots is to continuously maintain balance by estimating the tilt angle and applying corrective motor action in real time. In most practical systems, low-cost inertial sensors such as accelerometers and gyroscopes are used for tilt measurement. However, accelerometer readings are affected by vibration and noise, while gyroscope-based angle estimation produces drift due to integration errors. Therefore, sensor fusion becomes an important requirement for obtaining a stable and reliable tilt estimate. This review paper discusses dynamic modeling methods based on Lagrange formu- lation and feedback linearization along with commonly used balancing techniques such as PID and fuzzy logic control. Complementary filter and Kalman filter based fusion approaches are reviewed with respect to accuracy, computational complexity, and drift 10 handling. The importance of FPGA-based implementation is also highlighted, partic- ularly using Spartan-3E FPGA, since hardware parallelism can reduce delay between sensing and actuation and supports efficient PWM generation for motor driving. From the reviewed literature, it is concluded that Spartan-3E based implementation using com- plementary filtering and PID control provides a practical and low-cost solution for stable balancing and effective motor control.

Keywords: Two-wheeled self-balancing robot, inverted pendulum, Spartan-3E FPGA, complementary filter, Kalman filter, PID control, PWM, sensor fusion

How to cite this article:
Sagar Laxmikant Senad, Tejaswini Madan Chaudhari, Varsha Kshirsagar, Prerana Dharmendra Patil, Rohan Narendra Patil. A Review on Two-Wheeled Self-Balancing Robot Using Spartan-3E FPGA for Sensor Fusion and Real-Time Motor Control. Journal of VLSI Design Tools and Technology. 2026; 16(01):-.
How to cite this URL:
Sagar Laxmikant Senad, Tejaswini Madan Chaudhari, Varsha Kshirsagar, Prerana Dharmendra Patil, Rohan Narendra Patil. A Review on Two-Wheeled Self-Balancing Robot Using Spartan-3E FPGA for Sensor Fusion and Real-Time Motor Control. Journal of VLSI Design Tools and Technology. 2026; 16(01):-. Available from: https://journals.stmjournals.com/jovdtt/article=2026/view=238938


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Ahead of Print Subscription Review Article
Volume 16
01
Received 02/03/2026
Accepted 09/03/2026
Published 20/03/2026
Publication Time 18 Days
58

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