Group project for DTU 34722. The work covered system identification, MATLAB/Simulink controller design, and physical robot tests.
The challenge
Identifying the motors with the wheels off the floor produced the wrong plant model. Re-identifying on the floor and redesigning the loops made the inner-loop rise time 27× faster.
Results
- A 2 m move finished 3.6 cm short, without overshoot.
- Completed a square at 0.8 m/s while balancing.
- All four loops met their design margins.
