LQR and Fuzzy Control for Reaction Wheel Inverted Pendulum Model
Journal Title: Robotica & Management - Year 2019, Vol 24, Issue 1
Abstract
Reaction Wheel Inverted Pendulum (RWIP) is a nonlinear system as Single Input Multiple Output (SIMO). In order to control pendulum of RWIP at the upright position, reaction wheel must be controlled appropriately. In this paper, authors propose Linear Quadratic Regulator (LQR) algorithm and Fuzzy Logic Controller (FLC) for controlling RWIP. Results from the simulation are tested on Matlab/Simulink Tool. Then, authors implement the plant on real model. LQR and FLC can control pendulum of RWIP which holds on upright position when system is affected by external force.
Authors and Affiliations
Binh Hau Nguyen, Minh Phuoc Cu, Minh Tam Nguyen, Manh Son Tran, Hoang Chinh Tran
Keywords
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