I am working on a hobby project for self balancing robot. My robot balances quiet well, so my next step is to start moving it. I saw in some blogs that they used a cascade control algorithm as shown below
So I have the following question which is giving me a hard time
- When I see some videos about segway like systems (like boston dynamics here ), I see that before moving forward, the robot moves a bit backward (to generate a tilt) which I think is justified because it must first get an error to get started in the forward direction. So will this kind of control system be able to handle that or do I need to code it seperately?