Journal article
Ü. Önen, Abdullah Çakan
2021
2021
Semantic Scholar
DOI
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APA
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Önen, Ü., & Çakan, A. (2021). Multibody Modeling and Balance Control of a Reaction Wheel Inverted Pendulum Using LQR Controller.
Chicago/Turabian
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Önen, Ü., and Abdullah Çakan. “Multibody Modeling and Balance Control of a Reaction Wheel Inverted Pendulum Using LQR Controller” (2021).
MLA
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Önen, Ü., and Abdullah Çakan. Multibody Modeling and Balance Control of a Reaction Wheel Inverted Pendulum Using LQR Controller. 2021.
BibTeX Click to copy
@article{ue2021a,
title = {Multibody Modeling and Balance Control of a Reaction Wheel Inverted Pendulum Using LQR Controller},
year = {2021},
author = {Önen, Ü. and Çakan, Abdullah}
}
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.
