Využití nelineární Kalmanovy filtrace pro výšvih a stabilizaci inverzního kyvadla

Abstract

This master's thesis deals with state estimation of a nonlinear inverted pendulum system using Kalman filtering methods. The aim of the thesis is to analyse the existing experimental model, extend its sensor configuration, and implement a state estimator based on a nonlinear variant of the Kalman filter. The theoretical part summarizes the principles of state estimation, Kalman filtering, its nonlinear variants, and the mathematical model of the inverted pendulum. The practical part includes hardware modifications of the experimental setup, integration of additional sensors, design of a control algorithm for swing-up and stabilization, and implementation of the UKF in the REXYGEN environment. The thesis also includes an experimental comparison of UKF variants in terms of closed-loop behaviour, agreement with available measurements, and the influence of the sensor configuration on the resulting state estimate.