LQR and Fuzzy Control for Reaction Wheel Inverted Pendulum Model

* Ho Chi Minh City University of Technology and Education (HCMUTE)
Faculty of Electrical and Electronics Engineering (FEEE-HCMUTE)
01-    Vo Van Ngan street, Thu Duc District, Ho Chi Minh city, Vietnam
** Cao Thang Technical College
Faculty of Electrical and Automation
65-Huynh Thuc Khang street, Ben Nghe Ward, District 1, Ho Chi Minh city, Vietnam
E-mail: 1781101@student.hcmute.edu.vn; cuminhphuoc@caothang.edu.vn;  tamnm@hcmute.edu.vn;  sontm@hcmute.edu.vn; 1881101@student.hcmute.edu.vn

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.

Keywords: Reaction Wheel Inverted Pendulum (RWIP), nonlinear, upright position, Linear Quadratic Regulator (LQR), Fuzzy Logic Controller (FLC).

Full Text

References

[1] B. R. Andrievsk.: “Global Stabilization of the Unstable Reaction-wheel Pendulum”, ISSN 0005-1179, Automation and Remote Control, 2011, Vol. 72, No. 9, pp. 1981–1993.

[2] C. B. Kadua and C.Y.Patilb.: “Design and Implementation of Stable PID Controller for Interacting Level Control System”, 7th International Conference on Communication, Computing and Virtualization 2016, Procedia Computer Science 79 (2016) 737 – 746.

[3] Xiaojie Su., Xinxin Liu., Peng Shi., Yong-Duan Song., “Sliding mode control of hybrid switched systems via an event-triggered mechanism”, Automatica 90 (2018) 294–303.

[4] Hao-Ran Lin., Bing-Yuan Cao., Yun-zhang Liao.: “Fuzzy Sets Theory Preliminary”, Springer.

[5] Hoang Chinh Tran., Vi Do Tran., Thi Thanh Hoang Le., Minh Tam Nguyen., Van Dong Hai Nguyen.: “Genetic Algorithm Implementation for Optimizing Linear Quadratic Regulator to Control Acrobot Robotic System”, Robotica & Management - Vol. 23, No. 1, June 2018, Pp. 31-36.

[6] Georgios Mavros.: “Enhanced Motorcycle Roll Stability by use of a Reaction Wheel Actuator”, AVEC 10.

[7] Deep Ray., Ritesh Kumar., Praveen. C., Mythily Ramaswamy., J.-P. Raymond.: “Linear control of inverted pendulum”, IFCAM Summer School on Numerics and Control of PDE 22 July - 2 August 2013 IISc, Bangalore.s

[8] Fangzheng Xue., Zhicheng Hou., and Hangjian Den.: “Balance Control for an Acrobot”, Chinese Control and Decision Conference (CCDC), 2011.

[9] KiattisinKanjanawanishkul.: “LQR and MPC controller design and comparison for a stationary self-balancing bicycle robot with a reaction wheel”, Kybernetika,Vol.51(2015),No.1,173–191.

[10] David Morin.: “Chapter 6: The Lagrangian Method”, Copyright 2007.

[11] Heri Purnawan.: “Design of linear quadratic regulator (LQR) control system for flight stability of LSU-0”, Journal of Physics: Conference Series, 2017.

[12] Yevgeniy Gershteyn., Larisa Perman.: “Matlab: ANFIS Toolbox”, 04/22/2003, The MathWorks.