Controller Performance


The controller for the suspended pendulum is finally showing good results.

In the video bellow you can see two robots, they are exactly the same, but the one in front is actuated with a LQR controller, while the one behind does not have any kind of control action.

As you can see the one with a controller stabilizes faster than the one without it. We are still optimizing this controller to be faster, because when the robot is inverted it is needed that the control action is faster than what  currently is, otherwise the robot will fall.

2 Responses to “Controller Performance”

  1. Ricardo Says:

    Nice Work in there! 🙂 but why are you still using the cables? You have wireless and batteries, use them.

    • tiagorato Says:

      First of all I must excuse myself for the late reply. The wireless is being used on both robots so there’s no problem regarding that. The single reason I am not using the batteries yet is because if they are like the ones from modelling (even though I haven’t tested them yet I have the feeling they are) I loose 2 hours charging them for 15 minutes to half an hour of experiments 😦 A constant power source for now is more reliable.

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