In order to realize stable control of two-wheeled self-balancing system and improve reliability of system attitude inclination angle

a method of two-wheeled self-balancing system control based on gyroscope and accelerometer is presented.Establish brief dynamics model for two-wheeled self-balancing control system

Lyiapunov method is used to analyze stability in order to get stability control condition of system

datas of attitude inclination angle with high precision is acquired by gyroscope and accelerometer after fusion filtering

at last

control motor of two-wheeled self-balancing system to achieve stable operation.Through hardware and software design

it verifies the feasibility of this method successfully.