Dinh Dat Tran 1*, Binh Hau Nguyen 1, Bao Quoc Mai 1, Duc-Anh-Quan Nguyen 2
1 Posts and Telecommunications Institute of Technology (PTIT)
11-Nguyen Dinh Chieu Street, Da Kao Ward, District 1, Ho Chi Minh City, Vietnam.
2 Ho Chi Minh City University of Technology and Education (HCMUTE)
01-VoVanNgan Str, Thu Duc city, Ho Chi Minh City, Vietnam
* Corresponding author. E-mail: dattd@ptit.edu.vn
Robotica & Management, Vol. 29, No. 2, pp. 32-42
DOI: https://doi.org/10.24193/rm.2024.2.5
Abstract: The Reaction Wheel Inverted Pendulum (RWIP) system presents challenges in balancing and swing-up control due to its nonlinear, underactuated nature. This study introduces an energy-based control approach for the swing-up phase, along with an optimized Linear Quadratic Regulator (LQR) for stabilization. Through simulations and experiments, we demonstrate the effectiveness of these methods on an RWIP system with a reaction wheel mounted on a shaft supported by two ball bearings. Particle Swarm Optimization (PSO) is utilized to optimize the parameters of the LQR controller, aiming to improve both the stability and performance of the system. The control algorithms are implemented on an STM32F407 microcontroller, enabling real-time control and processing. Experimental results validate the control strategies under various external disturbances, proving their robustness and efficacy.
Keywords: RWIP, parameter optimization, energy-based control, swing-up mechanism, LQR, PSO, STM32F407 microcontroller.
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