Inverted Pendulum with Reaction Wheel End Effector - A Control System Algorithm Test Bench
For my EE 471 Design of Control Systems Course my team and I built an inverted pendulum with a reaction wheel for the end effector
We modeled the physics of the system with state space and then utilized a LQR controller to perform the actual stabilization. More information about the state space modeling and LQR controller can be found in the youtube video linked here.
Solidworks was used to get mass estimates on the various parts as well as center of mass data.
The system consists of a BLDC motor, a couple rotary encoders, 3D printed parts, and metal fasteners. For electronics, the system uses a Arduino Uno and the simpleFOC Arduino Uno Shield. The project is inspired by this github page, but I have modified the CAD files to fit my particular setup.
You can checkout out our lab report here: download pdf.