UKF Circular Inverted Pendulum Simulation

This article presents an interesting project: UKF Circular Inverted Pendulum Simulation. Our primary objective was to develop a control system that enables the circular inverted pendulum to maintain balance under various conditions. This project constituted my master's degree graduation thesis, and I'm excited to share my ideas and progress with you. In this paper, I will introduce the simulation background and underlying principles, along with our approach to designing control algorithms for achieving stability. The implementation utilizes Unscented Kalman Filter (UKF) for state estimation and incorporates energy-based control strategies for pendulum stabilization. Additionally, I will share the challenges encountered during this project and our problem-solving methodologies. Key algorithmic components include nonlinear system modeling, real-time state prediction, and adaptive control parameter tuning. I hope you find this project engaging and gain valuable insights from our implementation approach.