Two-Wheel Robot Swing-Up Using Scissor Pair Control Moment Gyro

Abstract

In this study, two wheel inverted pendulum robot is equipped with a scissor pair control moment gyro (CMG) for controlling its tilt angle. The objective is utilizing the produced torque from CMG to swing up the robot from ground to the upright position. The physical system is designed and its mathematical model is derived using Lagrange method, capturing the complex dynamics and constraints, including locked drive wheels. To achieve the challenging task of swinging up the robot from extreme initial conditions (90-degree body tilt angles on either side) to a stable zero-state upright position, a full-state feedback Linear Quadratic Regulator (LQR) controller is employed. The nonlinear equations of the system and the controller are solved numerically by MATLAB software. Furthermore, to validate the derived model and controller, the system is implemented on computer-aided engineering software (Simulink Multibody), and the results are meticulously compared with mathematical outcomes.