2023/01/12
RoboMaster 2023 Two-Wheeled Self-Balancing Standard Robot
This is a two-wheeled self-balancing robot with a 2DOF gimbal and a fly wheel projectile launching system. The balance control utilizes a linear quadratic regulator (LQR) with a dynamic model built using the Lagrange’s method. The control code is open sourced as below.
Demos
General Motion
Active Disturbance Rejection