Classical and intelligent methods in model extraction and stabilization of a dual-axis reaction wheel pendulum: a comparative study
AuthorTavakol Aghaei, Vahid
Akbulut, Batuhan Ekin
Fernandez Gamiz, Unai
Bezci, Yüksel Ediz
MetadataShow full item record
CitationBezci, Y. E., Tavakol Aghaei, V., Akbulut, B. E., Tan, D., Allahviranloo, T., Fernandez-Gamiz, U., & Noeiaghdam, S. (2022). Classical and intelligent methods in model extraction and stabilization of a dual-axis reaction wheel pendulum: A comparative study. Results in Engineering, 16 doi:10.1016/j.rineng.2022.100685
Controlling underactuated open-loop unstable systems is challenging. In this study, first, both nonlinear and linear models of a dual-axis reaction wheel pendulum (DA-RWP) are extracted by employing Lagrangian equations which are based on energy methods. Then to control the system and stabilize the pendulum's angle in the upright position, fuzzy logic based controllers for both x − y directions are developed. To show the efficiency of the designed intelligent controller, comparisons are made with its classical optimal control counterparts. In our simulations, as proof of the reliability and robustness of the fuzzy controller, two scenarios including noise-disturbance-free and noisy-disturbed situations are considered. The comparisons made between the classical and fuzzy-based controllers reveal the superiority of the proposed fuzzy logic controller, in terms of time response. The simulation results of our experiments in terms of both mathematical modeling and control can be deployed as a baseline for robotics and aerospace studies as developing walking humanoid robots and satellite attitude systems, respectively.