The paper discusses the use of a low-cost measurement system for stabilising a two-wheeled balancing robot. The system is based on a gyroscope, accelerometer, and encoder, and uses Kalman, θ type, and complementary filters to correct measurements for deterministic disturbances. The performance of the proposed measurement system was validated experimentally. The paper also highlights that the measurement system is a crucial factor in the design of the control system for a two-wheeled balancing robot.
Publication date: 22 Sep 2023
Project Page: Not provided
Paper: https://arxiv.org/pdf/2309.12169
