Owlstown Lite

Abdullah Cakan

PhD, Visiting Scholar
Go to full site
Home
Publications

Multibody Modeling and Balance Control of a Reaction Wheel Inverted Pendulum Using LQR Controller

Journal article

Ü. Önen, Abdullah Çakan
2021
Semantic Scholar DOI
Cite

Cite

APA   Click to copy
Önen, Ü., & Çakan, A. (2021). Multibody Modeling and Balance Control of a Reaction Wheel Inverted Pendulum Using LQR Controller.

Chicago/Turabian   Click to copy
Önen, Ü., and Abdullah Çakan. “Multibody Modeling and Balance Control of a Reaction Wheel Inverted Pendulum Using LQR Controller” (2021).

MLA   Click to copy
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.