LQR Balancer

View Code // コードを見る

Specifications // 仕様

Hardware // ハードウェア

  • NEMA17 Stepper Motors
  • ESP32-WROOM Controller
  • MPU6050 IMU
  • Modified WALL-E Frame

Control // コントロール

  • LQR Algorithm
  • MATLAB Verification
  • Complementary Filter
  • (Soon: Kalman Filter)

Project Timeline // タイムライン

✓

Modeling & Sim

✓

First Iteration

!

Starting Again

Testing

Development Approaches // アプローチ

Flaws in V1

  • Inadequate frequency analysis
  • Superficial stepper understanding
  • Limited stepper control methods
  • Primitive complementary filter

Ground-Up Reconstruction (V2)

  • Fundamental system redesign
  • Custom stepper library
  • Kalman filter implementation
  • Continuous first principles verification
  • Julia (because it's cool ✨)
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