Eventos Anais de eventos
COBEM 2017
24th ABCM International Congress of Mechanical Engineering
LQR control for a self-balancing unicycle
Submission Author:
Gabriel Pereira das Neves , SP
Co-Authors:
Gabriel Pereira das Neves, Bruno Augusto Angélico
Presenter: Gabriel Pereira das Neves
doi://10.26678/ABCM.COBEM2017.COB17-1453
Abstract
This work presents a unicycle with reaction wheel, showing the modeling, the design and testing of the stabilizing controller. A three-dimensional drawing was generated (3D CAD) to assist the construction. The prototype was constructed by attaching the electronic components, the battery, the wheels and the motors to a body, to make it fully autonomous. The positioning of the parts has to be balanced, trying to maintain the position of the center of mass along the vertical and horizontal axis of symmetry. Then the system was modeled by the Lagrange method, and a linear quadratic regulator (LQR) was designed to stabilize the plant. This paper presents the simulation of the LQR controller, which has shown good results.
Keywords
LQR, Unicycle, System Modeling, Optimal Control, Bryson's rule
