The well-known and nearly hundred years old "proportional-integral- derivative"(PID) controller is a linear feedback control method which adjusts the input signal by ...

Getting a robot to stand on two wheels without tipping over involves a challenging dance with the laws of physics. Self-balancing robots are a great way to get into control systems, sensor fusion, and ...

This work addresses the problem of global set-point control of elastic joint robots by combining elastic structure preserving (ESP) control with non-collocated integral action. Despite the popularity ...