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All Journal International Journal of Robotics and Control Systems
Abdullah Çakan
Konya Technical University, Konya
Control & Systems Engineering Electrical & Electronics Engineering

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Multibody Modeling and Balance Control of a Reaction Wheel Inverted Pendulum Using LQR Controller Ümit Önen; Abdullah Çakan
International Journal of Robotics and Control Systems Vol 1, No 1 (2021)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v1i1.296

Abstract

In this study, modeling and LQR control of a reaction wheel inverted pendulum system is described. The reaction wheel inverted pendulum model is created by using a 3D CAD platform and exported to Simscape Multibody. The multibody model is linearized to derive a state-space representation. A LQR (Linear-quadratic regulator) controller is designed and applied for balance control of the pendulum. The results show that deriving a state-space representation from multibody is an easy and effective way to model dynamic systems and balance control of the reaction wheel inverted pendulum is successfully achieved by LQR controller. Results are given in the form of graphics.
Co-Authors Ümit Önen