A discrete LQR applied to a self-balancing reaction wheel unicycle: Modeling, construction and control

Author(s)

Neves, Gabriel P. ; Angelico, Bruno A. ; IEEE

• Document type: Journal article
• Source: 2021 AMERICAN CONTROL CONFERENCE (ACC); v. N/A, p. 6-pg., 2021-01-01.

Abstract

This work presents the modeling, construction and control of a self-balancing unicycle assisted by reaction wheel. It is a nonlinear, unstable and multivariable system. A useful model is presented, based on the Lagrangian mechanics. Construction steps are explicitly described and some implementation aspects, regarding the reaction wheel actuator limitation, are highlighted. A discrete-time LQR controller is validated in simulation and in practical tests with the real system. (AU)

• FAPESP's process: 17/22130-4 - Applied Robust Control
• Grantee: Bruno Augusto Angélico
• Support Opportunities: Regular Research Grants
• FAPESP's process: 16/00729-9 - Modeling, construction and control of a Self-balancing unicycle
• Grantee: Gabriel Pereira das Neves
• Support Opportunities: Scholarships in Brazil - Master