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

被引：0
|
作者：
Neves, Gabriel P. [1 ]
Angelico, Bruno A. [1 ]
机构：
[1] Univ Sao Paulo, Lab Automat & Control, Dept Telecommun & Control Engn, Escola Politecn, Sao Paulo, SP, Brazil
来源：
2021 AMERICAN CONTROL CONFERENCE (ACC) | 2021年
基金：
巴西圣保罗研究基金会;
关键词：
ROBOT;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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.
引用
收藏
页码：777 / 782
页数：6
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