Please use this identifier to cite or link to this item:
https://hdl.handle.net/20.500.13091/4454
Title: | Multibody Modeling and Balance Control of a Reaction Wheel Inverted Pendulum Using Lqr Controller | Authors: | Önen, Ü. Çakan, A. |
Keywords: | Inverted pendulum LQR controller Matlab Multibody dynamics Reaction wheel pendulum Simulink |
Publisher: | Association for Scientific Computing Electronics and Engineering (ASCEE) | 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. © 2021, International Journal of Robotics and Control Systems. All rights reserved. | URI: | https://doi.org/10.31763/ijrcs.v1i1.296 https://hdl.handle.net/20.500.13091/4454 |
ISSN: | 2775-2658 |
Appears in Collections: | Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collections |
Files in This Item:
File | Size | Format | |
---|---|---|---|
296-1035-5-PB.pdf | 1.28 MB | Adobe PDF | View/Open |
CORE Recommender
SCOPUSTM
Citations
7
checked on Apr 19, 2025
Page view(s)
266
checked on Apr 21, 2025
Download(s)
124
checked on Apr 21, 2025
Google ScholarTM
Check
Altmetric
Items in GCRIS Repository are protected by copyright, with all rights reserved, unless otherwise indicated.