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Hello. New updates, with Matlab 2023A: For the observer part: - Since there was a mistake using B instead of C for the output of the system, it is necessary to put u*C in the system. - In the observer, it works with Cd*u. - In the observer, the observer gain must be u*Ob. I think that with the above corrections, you will get the same results as in the video. Now, for the non-linear part, I did not have the variable g_q. So, just in the working space, define g_q = [1;0]. With the above, you will see the simulation. Keep studying! See you.

Hello, thanks for your great work. Can I get the information about the motor you used for CMG? Thank you in advance.

too slow

Heyy I’m currently working on a bicycle dynamics project and need help in validation in Simulink. How can I contact you??

How do replace it with a plant at 29:49

how to get A, B C D matrix of linearization formula?

thank you

Love you sir ❤ from India

Me quedo 8npactala con la tecnologia😮

Stark

Stark

Stark

Manu Stark

🇵🇸🇵🇸🇵🇸

Is there some literature on this?

Thank you sir! Can I obtain a procedure for deriving the equations of motion for that system?

👌👌👌👌👌

why is it so severely over-engineered?

Hello Sir, did you use interrupts in rpi for reacting once obstacle is detected. If not how is it implemented please tell if it is possible.

would you mind sharing the codes for this simulation？

why does he multiple by B for output instead of C?

Hello, at 14.57 min, you said a term 'input of word', what you mean by that?

Can you share the source?

Hello，where can i find the paper of the demo project，thanks very much.

HI EIT TUK, I'm aware that you guys are controlling the robot under torque mode, it is a really great work. I have two questions if i may, let's say you guys have solved the IK puzzle and know what are the desired position for each motor: 1.When you guys are controlling the robot's position under torque mode, are you guys updating the torque command every communication cycle? if so, what's your communication cycle in time unit(like ms)? 2.How do you guys deal with the final stopping part? Specifically what's your general principle of stopping the motor at the specific position, how do you guys deal with the deceleration and make sure the motor will stop at the exact acceptable position offset range? I'm really looking forward to hear you back, thanks in advance!

how do you make the animation? thanks for the video !!

Hi! Congrats on your work! Where can I find this Masters Thesis?

waw can you please send me the code

Hey can you please tell me where can I read about those dynamic equations

I am wondering, how we can control inverted Pendulum, juts on the knowledge based on position x?. As output of plant is just position, which Is used in observer, to estimate states. This implies that there is no need of angle measurement for balancing, but we know that for balancing robots and pendulums, it is necessary to have potentiometer or MEMS to measure angle of pendulum.. I believe, if we have just theta in output, means C=[ 0 0 1 0], then self balancing can be achieved, knowledge of position is not a must have thing in balancing, but theta is must..

Hello, first nice work, that's impressive ! I'm an engineering student and for my last year exams i'm writting a state of the art about AI - Human co-learning. And I was wondering if you would mind if i use a part of your video for my presentation ? Of course i will quote you and your article.

Nice work! Is the robot arm controlled in speed mode?

DANKE !!

hello when ever i try to type the observer matrix i get an error that it is not defined i need a solution for that if anyone can you help me please.!!

at 31:06 ,I replaced “[K_d ,~ ,~] = dlqr(Ad,Bd,Q,R,N);” with “[K_d ,s ,e] = dlqr(Ad,Bd,Q,R,N);” ,and the result of e is [0.98929, 0.97981,0.968874,0.33317]，，The values in e are all greater than 0, is it because this is calculated in the discretization?

Provide the code

Sehr informativ

Thank you very much. Very usefull

wow such a hard work...such awesome thing..

Klasse Einblick in euer Projekt! Gerade dass man auch die ganzen Hürden auf dem Weg zum Ziel sieht. Starke Arbeit Jungs!

Good job, thank you for sharing.

I'm trying it, but it can't read the valus from my output, so i can't change the parameter. I Create the MyTask.m to change Q and R, but it just works with dafault values, not from my values. How i can use my values?

YOU ARE SO GREAT! PROFESSOR . a student from china

Hallo Allen, this is very insightful, thanks. I already sent you a message via Research gate.

Hey you have taken in simulink model x0 is a variable but in my Matlab model it was not taking so help me

At 29.25 --> Invalid dimensions specified for input port 1 in 'MyModel/Observer/Gain3'. The gain specified has dimensions [1x4], while the input is being set to have the dimensions [1]. These dimensions are not suitable for generating the matrix product of the gain with the input signal Component:Simulink | Category:Model error Error in port widths or dimensions. Output port 1 of 'MyModel/Observer/Sum1' is a one dimensional vector with 1 elements. Component:Simulink | Category:Model error

Thanks sir it was so practical 😍

How do you control the pendulum angle to not rotate beyond certain angle (say 5 degree)?

Not bad! Are you using SICK lidar? Did you have any problems with it? We use RPlidar in a similar project and its performance is lacking... especially in outdoor environments.

I really like your LAB🥰🥰