A discrete LQR applied to a self-balancing reaction wheel unicycle: Modeling, construction and control

This work presents the modeling, construction and control of a self-balancing unicycle assisted by reaction wheel. It is a nonlinear, unstable and multivariable system. A useful model is presented, based on the Lagrangian mechanics. Construction steps are explicitly described and some implementation aspects, regarding the reaction wheel actuator limitation, are highlighted. A discrete-time LQR controller is validated in simulation and in practical tests with the real system.