TY - GEN
T1 - Design and Analysis of an Inverted Pendulum Driven by a Reaction Wheel
AU - Sureshkumar, Vyshak
AU - Harib, Khalifa
AU - Oseni, Adewale
AU - Aladawi, Ayesha
N1 - Publisher Copyright:
© 2024 IEEE.
PY - 2024
Y1 - 2024
N2 - The control of underactuated systems is a challenging problem specifically when the mechatronic systems' control design and implementation are involved. This paper presents a design for a reaction wheel inverted pendulum setup in which variable configurations of the pendulum are achieved by adjusting the position of the overall center of mass of the pendulum. The paper discusses the mechatronics system design and presents methods to identify the dynamic system parameters experimentally. The control system is then analyzed for stability condition at various configurations of center of mass, and a stabilizing control is demonstrated by experimentally implementing of a modern LQR-based state feedback controller.
AB - The control of underactuated systems is a challenging problem specifically when the mechatronic systems' control design and implementation are involved. This paper presents a design for a reaction wheel inverted pendulum setup in which variable configurations of the pendulum are achieved by adjusting the position of the overall center of mass of the pendulum. The paper discusses the mechatronics system design and presents methods to identify the dynamic system parameters experimentally. The control system is then analyzed for stability condition at various configurations of center of mass, and a stabilizing control is demonstrated by experimentally implementing of a modern LQR-based state feedback controller.
KW - LQR controller
KW - reaction wheel inverted pendulum
KW - stability analysis
KW - underactuated system
KW - variable inertia
UR - http://www.scopus.com/inward/record.url?scp=85203300434&partnerID=8YFLogxK
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U2 - 10.1109/AIM55361.2024.10637022
DO - 10.1109/AIM55361.2024.10637022
M3 - Conference contribution
AN - SCOPUS:85203300434
T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
SP - 440
EP - 446
BT - 2024 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2024
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2024 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2024
Y2 - 15 July 2024 through 19 July 2024
ER -