Open AccessDesigning, implementing and analysing optimal controllers on a non-linear reaction wheel pendulum
Author(s) -
Indrazno Siradjuddin,
Erlillah Rizqi Kusuma Pradani,
Erfan Rohadi,
Supriatna Adhisuwignjo,
Mila Kusumawardani,
Indah Martha Fitriani
Publication year - 2019
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/1402/4/044025
Subject(s) - reaction wheel , control theory (sociology) , inverted pendulum , underactuation , pendulum , position (finance) , state space , computer science , control (management) , control engineering , state (computer science) , engineering , attitude control , nonlinear system , mathematics , algorithm , artificial intelligence , mechanical engineering , statistics , physics , finance , quantum mechanics , economics
This paper discusses a reaction wheel control system. A reaction wheel pendulum is good example of a non-linear and underactuated system, which attracts control system researchers to develop many control algorithms. The reaction wheel plant is usually used for studying advanced control system courses. In this paper, a mathematical model of the state space is discussing. A proposed LQR control algorithm is explained. Simulation and real time experiments have seen carried out to verify the performance of the proposed closed loop system. The LQR optimisation algorithm was able to find the optimum feedback gains. The simulation and real time experiments show that the reaction wheel pendulum could stabilize the pendulum at upright position.