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Please use this identifier to cite or link to this item: http://hdl.handle.net/10651/38322

Title: Cubli: Dynamic Control of a Reaction Wheel Inverted Pendulum
Other title: Cubli: Control dinámico de un péndulo invertido con rueda de reacción
Author(s): Villarmarzo Arruñada, Noelia
Skov Vestergaard, Niels
Sander, Mikael
Brèhin, Julien
Kitz, Bjørn
Advisor: José Prieto, Miguel Ángel
Other authors: Ingeniería Eléctrica, Electrónica, de Computadores y Sistemas, Departamento de
Keywords: Cubli
Reaction wheel
Inverted pendulum
Complementary filter
State space
Root locus
Filtro complementario
Espacio de estados
Lugar de las raíces
Péndulo invertido
Issue date: 2016
Publisher: Noelia Villarmarzo Arruñada
Format extent: 151 p.
Abstract: The inverted pendulum is used in many applications and it is a classic research area in control theory which is still ac- tive. The aim of this project was to model and analyze the behavior of a reaction wheel inverted pendulum, in the form of a one-frame Cubli; and to design a controller capable of balancing it in equilibrium position. A controller was designed using classi- cal control methods such as root locus and Nyquist criterion. However, the system had a marginally stable behav- ior. Not having control of the velocity of the reaction wheel was a problem, so the final controller was done through state space design. Moreover, a solution for measuring its angular position using only internally mounted sensors was designed to be able to make it portable to a full Cubli. Finally, the performance of the system was tested on the prototype to ensure that it fulfills the needed requirements
URI: http://hdl.handle.net/10651/38322
Appears in Collections:Trabajos Fin de Grado

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