To Use Sensory Information as Feedback for High Performance Realtime Robotics Applications

摘要

The paper will demonstrate the techniques involved in balancing an unstable robotic platform. The platform will be an ideal for the implementations of both PID digital control and Kalman filter algorithms. Both algorithms will provide the necessary control for the system. Therefore the presented paper will investigate the performance of both PID digital control and Kalman filter algorithms. The control system performance is directly dependent on Kalman filter and PID controller input parameters. The results clearly show how the adjustable parameters on the control system directly affected the overall system performance.