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http://dx.doi.org/10.5369/JSST.2018.27.3.165

Balancing the Cubli Frame with LQR-controlled Reaction Wheel  

Kim, Yonghun (School of Intelligent Mechatronic Engineering, Sejong University)
Park, Junmo (Department of Robotics and Automation Engineering, Hoseo University)
Han, Seungoh (Department of Robotics and Automation Engineering, Hoseo University)
Publication Information
Journal of Sensor Science and Technology / v.27, no.3, 2018 , pp. 165-169 More about this Journal
Abstract
A single-axis Cubli frame realized simply with an IMU sensor and DC motor is presented herein. To maintain the balance on the Cubli frame, an LQR controller based on a Lagrangian derivation of the dynamics was designed, which utilized the state variables of the frame angle and its angular acceleration, as well as the wheel angle and its angular acceleration. The designed LQR controller showed a settling time balancing capability of approximately two seconds and 40% of the maximum overshoot in Matlab/Simulink simulations. Our experimental results of the fabricated Cubli frame matched with the simulation results. It maintained balancing at the reference position even though an initial offset as well as external disturbance during the balancing was applied.
Keywords
Reaction wheel; Balancing; Cubli frame; LQR control;
Citations & Related Records
Times Cited By KSCI : 3  (Citation Analysis)
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