Implementation of a control algorithm for a self- balancing robot in Julia in a Jetson Nano

Abstract

This text will drive the reader through the process of developing a programme which will control an invertedpendulum-like robot in its steady stable position, which is facing the pendulum upwards. In addition, thisthesisintendsto introduce the readerto Julia—a fast programming language specifically focused on mathematical development—and the Jetson Nano—a minicomputer, comparable to Arduino, but with much better characteristics in relation to what is being tested—. Throughout the document, it will be learnt how to use and implement complex control algorithms in Julia and MATLAB. The programmes will be created from scratch so as to learn from the very base of the language. In addition, the mathematical development of the equations which will simulate the robot’s model and the controller will be explained from zero. Several tests will be performed in order to check the response of the algorithms and programmes to different casuistry and eventually, a graph for each corresponding test will be drawn to show the behaviour of the system.