Dynamics Modelling and Parameter Identification of a Reaction Wheel Based Pendulum

Cheng Yi Su, Chao Chung Peng, Ankit A. Ravankar, Abhijeet Ravankar

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In control system research, the pendulum system is one of the important nonlinear systems, and it has been widely used in many control applications. Different from the conventional pendulum system, this paper presents a reaction wheel based pendulum control system. From the application point of view, the design task is to stabilize the pendulum system through the reaction force generated from the flywheel. To this aim, dynamics modelling of the reaction wheel based pendulum must be considered first. Second, the system parameter identification scheme is required for future controller designs. Therefore, in this paper, dynamics modelling of the reaction wheel based pendulum is derived in term of Lagrange equation. For the associated nonlinear model, a discrete model approximation is proposed for the identification of system parameters. Finally, simulations are carried out to demonstrate the feasibility and effectiveness of the proposed method.

Original languageEnglish
Title of host publicationProceedings - 4th IEEE International Conference on Robotic Computing, IRC 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages271-274
Number of pages4
ISBN (Electronic)9781728152370
DOIs
Publication statusPublished - 2020 Nov
Event4th IEEE International Conference on Robotic Computing, IRC 2020 - Virtual, Taichung, Taiwan
Duration: 2020 Nov 92020 Nov 11

Publication series

NameProceedings - 4th IEEE International Conference on Robotic Computing, IRC 2020

Conference

Conference4th IEEE International Conference on Robotic Computing, IRC 2020
CountryTaiwan
CityVirtual, Taichung
Period20-11-0920-11-11

All Science Journal Classification (ASJC) codes

  • Computer Science Applications
  • Artificial Intelligence
  • Automotive Engineering
  • Control and Optimization
  • Surgery

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