Controlling a Reaction Wheel Pendulum Using Lqr Controller: Simulation and Experiment
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13142021@student.hcmute.edu.vnKeywords:
bicycle, reaction wheel pendulum, nonlinear system, LQR control, SIMO systemAbstract
Popular vehicles, such as bicycles, motorbikes which are unstable, unbalanced when they are not under control. Under the effects of gravitation or external forces, they fall down and become unbalanced immediately. Thence, authors choose a nonlinear system that has the same simple structure as a bicycle body in order to research control algorithm. Inverted pendulum with a reaction wheel is a nonlinear system that has a single input-multi output (SIMO) structure. In this paper, authors use LQR algorithm to control this model. Results are shown in Matlab/Simulink simulation and real experiment. Results show not only that control responses are closed to references under effects of external forces but also that LQR control algorithm can stabilize system effectively in a real application.
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