The inertia changes significantly as the "body" moves up and down the leg - for the controller, I got feedback gains with LQR for the maximum and minimum extension cases, and linearly interpolate between those gains as the leg extends.
Very impressive! This is a difficult plant to control. Not sure if it's in the plans for future posts, but more info on the controller design would be awesome.
Very impressive! This is a difficult plant to control. Not sure if it's in the plans for future posts, but more info on the controller design would be awesome.
ReplyDeleteThanks! More detailed reaction wheel post in the works.
DeleteBeautiful :))
ReplyDelete