Dead-zone of servos

Linear controllers do not deal well with non linearities like dead-zones of servos, and LQR is not an exception.

Currently we are working in a way to go arround it in order to obtain better results, and avoiding having problems when the controller for keeping it standing is designed.

An explanation of the “tricks” used and the graphical results can be viewed here.

More interesting than theory is actually seeing the effects of the “tricks” in the real robot, therefore we provide you a video with the experiments where the data from the pdf file was taken.