Using Extended Kalman Filter for robust control of a flying inverted pendulum
D. Spencer Maughan, Ishmaal T. Erekson, Rajnikant Sharma · 2015
We propose the use of an Extended Kalman Filter (EKF) for reliable state estimation in order to permit advanced control of the tip of a flying inverted pendulum while maintaining safety. We demonstrate the capabilities of an EKF in tandem with an accurate model to overcome bad or false data from a multiple camera motion capture system used for positioning.