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

Autor(es)

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

• Tipo de documento: Artigo Científico
• Fonte: 2021 AMERICAN CONTROL CONFERENCE (ACC); v. N/A, p. 6-pg., 2021-01-01.

Resumo

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)

• Processo FAPESP: 17/22130-4 - Controle Robusto Aplicado
• Beneficiário: Bruno Augusto Angélico
• Modalidade de apoio: Auxílio à Pesquisa - Regular
• Processo FAPESP: 16/00729-9 - Modelagem, desenvolvimento e controle de um monociclo auto equilibrado
• Beneficiário: Gabriel Pereira das Neves
• Modalidade de apoio: Bolsas no Brasil - Mestrado