LPV control of a gyroscope with inverted pendulum attachment

P.J.W. Koelewijn; P.S.G. Cisneros; H. Werner; R. Tóth

doi:10.1016/j.ifacol.2018.11.169

LPV control of a gyroscope with inverted pendulum attachment

P.J.W. Koelewijn, P.S.G. Cisneros, H. Werner, R. Tóth

Research output: Contribution to journal › Conference article › Academic › peer-review

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Abstract

A linear parameter varying (LPV) optimal L₂ gain controller is designed with mixed-sensitivity shaping to stabilize an inverted pendulum attached to a control moment gyroscope (CMG). Swing-up of the pendulum is achieved by a start-up LPV controller for which the reference is designed by an energy regulator. The LPV performance controller is enabled as soon as the pendulum enters into its operating range of ±0.15 rad. Based on both simulation and experimental results, it is demonstrated that stabilization of the pendulum is achieved for varying gimbal angles and rotational speed of the flywheel.

Original language	English
Pages (from-to)	49-54
Number of pages	6
Journal	IFAC-PapersOnLine
Volume	51
Issue number	26
DOIs	https://doi.org/10.1016/j.ifacol.2018.11.169
Publication status	Published - 23 Nov 2018
Event	2nd IFAC Workshop on Linear Parameter Varying Systems LPVS 2018 - Florianópolis, Brazil Duration: 3 Sep 2018 → 5 Sep 2018 Conference number: 2

Keywords

control moment gyroscope
Linear parameter-varying
mixed sensitivity
optimal control
pendulum

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10.1016/j.ifacol.2018.11.169

Author_versionFinal author version , 1.31 MBLicence: CC BY-NC-ND

Cite this

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title = "LPV control of a gyroscope with inverted pendulum attachment",

abstract = "A linear parameter varying (LPV) optimal L2 gain controller is designed with mixed-sensitivity shaping to stabilize an inverted pendulum attached to a control moment gyroscope (CMG). Swing-up of the pendulum is achieved by a start-up LPV controller for which the reference is designed by an energy regulator. The LPV performance controller is enabled as soon as the pendulum enters into its operating range of ±0.15 rad. Based on both simulation and experimental results, it is demonstrated that stabilization of the pendulum is achieved for varying gimbal angles and rotational speed of the flywheel.",

keywords = "control moment gyroscope, Linear parameter-varying, mixed sensitivity, optimal control, pendulum",

author = "P.J.W. Koelewijn and P.S.G. Cisneros and H. Werner and R. T{\'o}th",

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T1 - LPV control of a gyroscope with inverted pendulum attachment

AU - Koelewijn, P.J.W.

AU - Cisneros, P.S.G.

AU - Werner, H.

AU - Tóth, R.

N1 - Conference code: 2

PY - 2018/11/23

Y1 - 2018/11/23

N2 - A linear parameter varying (LPV) optimal L2 gain controller is designed with mixed-sensitivity shaping to stabilize an inverted pendulum attached to a control moment gyroscope (CMG). Swing-up of the pendulum is achieved by a start-up LPV controller for which the reference is designed by an energy regulator. The LPV performance controller is enabled as soon as the pendulum enters into its operating range of ±0.15 rad. Based on both simulation and experimental results, it is demonstrated that stabilization of the pendulum is achieved for varying gimbal angles and rotational speed of the flywheel.

AB - A linear parameter varying (LPV) optimal L2 gain controller is designed with mixed-sensitivity shaping to stabilize an inverted pendulum attached to a control moment gyroscope (CMG). Swing-up of the pendulum is achieved by a start-up LPV controller for which the reference is designed by an energy regulator. The LPV performance controller is enabled as soon as the pendulum enters into its operating range of ±0.15 rad. Based on both simulation and experimental results, it is demonstrated that stabilization of the pendulum is achieved for varying gimbal angles and rotational speed of the flywheel.

KW - control moment gyroscope

KW - Linear parameter-varying

KW - mixed sensitivity

KW - optimal control

KW - pendulum

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JO - IFAC-PapersOnLine

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T2 - 2nd IFAC Workshop on Linear Parameter Varying Systems LPVS 2018

Y2 - 3 September 2018 through 5 September 2018

ER -

LPV control of a gyroscope with inverted pendulum attachment

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