Zumo Segway
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Introduction
Zumo32u4
Segway Model
LQR Controller Design
Controller Implementation
Zumo Segway
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Zumo Segway’s Documentation
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Zumo Segway’s Documentation
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Introduction
Zumo32u4
Inertial Management Unit
Motors
Encoders
Segway Model
System’s dynamics equations
Model Adaptation
Input Adaptation
State Variable Model
LQR Controller Design
Physical parameters
Model
Controllability
Observability
Control Law
Controller Simulation
Further Features
Controller Implementation
SegwayLQR
LQR
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