Nonlinear Kalman Filter Model for Balancing Optimization Gyro Robot

Abstract

The gyro robot is basically required to control two important factors: balance control and speed control with complex structure of optimal angle positions. According to this condition, a nonlinear kalman filter model for balancing optimization is proposed. The nonlinear prediction and nonlinear correction of nonlinear kalman filter model are calculated and added to the control system. The experimental results show that this model can provide the pitch angle between -25 degrees and 25 degrees. The steady-state error is less than 2%. This designed controller guarantees a good control quality.