ROBOTICA & MANAGEMENT - Vol. 24, No. 1, June 2019, pp. 19-23

LQR and Fuzzy Control for Reaction Wheel Inverted Pendulum Model

Binh Hau Nguyen *, Minh Phuoc Cu **, Minh Tam Nguyen *, Manh Son Tran *, Hoang Chinh Tran **

* 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

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.

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

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