Please use this identifier to cite or link to this item: https://hdl.handle.net/20.500.13091/4454
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dc.contributor.authorÖnen, Ü.-
dc.contributor.authorÇakan, A.-
dc.date.accessioned2023-08-03T19:03:52Z-
dc.date.available2023-08-03T19:03:52Z-
dc.date.issued2021-
dc.identifier.issn2775-2658-
dc.identifier.urihttps://doi.org/10.31763/ijrcs.v1i1.296-
dc.identifier.urihttps://hdl.handle.net/20.500.13091/4454-
dc.description.abstractIn 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.en_US
dc.language.isoenen_US
dc.publisherAssociation for Scientific Computing Electronics and Engineering (ASCEE)en_US
dc.relation.ispartofInternational Journal of Robotics and Control Systemsen_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.subjectInverted pendulumen_US
dc.subjectLQR controlleren_US
dc.subjectMatlaben_US
dc.subjectMultibody dynamicsen_US
dc.subjectReaction wheel pendulumen_US
dc.subjectSimulinken_US
dc.titleMultibody Modeling and Balance Control of a Reaction Wheel Inverted Pendulum Using LQR Controlleren_US
dc.typeArticleen_US
dc.identifier.doi10.31763/ijrcs.v1i1.296-
dc.identifier.scopus2-s2.0-85124162889en_US
dc.departmentKTÜNen_US
dc.identifier.volume1en_US
dc.identifier.issue1en_US
dc.identifier.startpage84en_US
dc.identifier.endpage89en_US
dc.institutionauthor…-
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.authorscopusid25651994500-
dc.authorscopusid56297944600-
item.fulltextWith Fulltext-
item.openairecristypehttp://purl.org/coar/resource_type/c_18cf-
item.openairetypeArticle-
item.cerifentitytypePublications-
item.grantfulltextopen-
item.languageiso639-1en-
Appears in Collections:Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collections
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