Modelling and control of a reaction wheel pendulum using a linear quadratic regulator

Haydar Kerem Karhan; Tuğçe Yaren; Selçuk Kizir

Modelling and control of a reaction wheel pendulum using a linear quadratic regulator

Abstract

This paper presents a tutorial-style approach to synthesizing a mechatronic control system from scratch, with a focus on mathematical modeling, real-world verification, model-based control using the Linear Quadratic Regulator (LQR), and rapid control prototyping. The system’s equations of motion are derived through Lagrangian mechanics and subsequently linearized. Unknown parameters are estimated using optimization techniques. An LQR controller is designed and implemented on the STM32F4 microcontroller and its performance is rigorously tested against disturbances using MATLAB/Simulink. The Reaction Wheel Pendulum serves as the case study, demonstrating the successful implementation of the LQR controller, with the derived model verified through experimentation. A recovery angle of 20 degrees is obtained.

Keywords

References

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Details

Primary Language

English

Subjects

Clinical Chemistry

Journal Section

Research Article

Authors

Haydar Kerem Karhan
0009-0003-3271-7647
Türkiye

Tuğçe Yaren ^*
0000-0001-9937-3111
Türkiye

Selçuk Kizir
0000-0002-0582-5904
Türkiye

Publication Date

December 9, 2024

Submission Date

September 26, 2023

Acceptance Date

January 1, 2024

Published in Issue

Year 2024 Volume: 42 Number: 6

IZ

https://izlik.org/JA27MJ34ZH

Cite

RIS / Bibtex

APA

Karhan, H. K., Yaren, T., & Kizir, S. (2024). Modelling and control of a reaction wheel pendulum using a linear quadratic regulator. Sigma Journal of Engineering and Natural Sciences, 42(6), 1907-1915. https://izlik.org/JA27MJ34ZH

AMA

1.Karhan HK, Yaren T, Kizir S. Modelling and control of a reaction wheel pendulum using a linear quadratic regulator. SIGMA. 2024;42(6):1907-1915. https://izlik.org/JA27MJ34ZH

Chicago

Karhan, Haydar Kerem, Tuğçe Yaren, and Selçuk Kizir. 2024. “Modelling and Control of a Reaction Wheel Pendulum Using a Linear Quadratic Regulator”. Sigma Journal of Engineering and Natural Sciences 42 (6): 1907-15. https://izlik.org/JA27MJ34ZH.

EndNote

Karhan HK, Yaren T, Kizir S (December 1, 2024) Modelling and control of a reaction wheel pendulum using a linear quadratic regulator. Sigma Journal of Engineering and Natural Sciences 42 6 1907–1915.

IEEE

[1]H. K. Karhan, T. Yaren, and S. Kizir, “Modelling and control of a reaction wheel pendulum using a linear quadratic regulator”, SIGMA, vol. 42, no. 6, pp. 1907–1915, Dec. 2024, [Online]. Available: https://izlik.org/JA27MJ34ZH

ISNAD

Karhan, Haydar Kerem - Yaren, Tuğçe - Kizir, Selçuk. “Modelling and Control of a Reaction Wheel Pendulum Using a Linear Quadratic Regulator”. Sigma Journal of Engineering and Natural Sciences 42/6 (December 1, 2024): 1907-1915. https://izlik.org/JA27MJ34ZH.

JAMA

1.Karhan HK, Yaren T, Kizir S. Modelling and control of a reaction wheel pendulum using a linear quadratic regulator. SIGMA. 2024;42:1907–1915.

MLA

Karhan, Haydar Kerem, et al. “Modelling and Control of a Reaction Wheel Pendulum Using a Linear Quadratic Regulator”. Sigma Journal of Engineering and Natural Sciences, vol. 42, no. 6, Dec. 2024, pp. 1907-15, https://izlik.org/JA27MJ34ZH.

Vancouver

1.Haydar Kerem Karhan, Tuğçe Yaren, Selçuk Kizir. Modelling and control of a reaction wheel pendulum using a linear quadratic regulator. SIGMA [Internet]. 2024 Dec. 1;42(6):1907-15. Available from: https://izlik.org/JA27MJ34ZH