Balancing robot, FIR filter implemented.

My batcelor project, a Balancing Robot. The controller is a full state feedback LQR controller. The Robot seams slow,this is due to some heavy FIR filtering, remember this is work in progress.

Category:

Education

Tags:

• State Space
• Controller
• Segway
• Inverted Pendulum
• LQR
• FIR filter
• Running Average Filter

[PetarDurdevic]

Thanks for the reply ndyt.

I used State space modeling, and LQR controller.

I used FIR as on 6.th semester IRS at Aalborg university, we do not learn to use Kalman until 7.th semester, but the key issu was the low budget gyro, it had a super low bandwidth and needed replacement.

But i am no longer working on that project.

[ndyt]

You might want to look at the code in the IMUs out there like the Razor and the Mongoose. They use matrix math to filter that runs very fast on a micro. Most people use Kalman filters for this. Why did you choose FIR instead?