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.
| Language | English |
|---|---|
| Pages | 49-54 |
| Number of pages | 6 |
| Journal | IFAC-PapersOnLine |
| Volume | 51 |
| Issue number | 26 |
| DOIs | |
| State | 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 |
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Keywords
- control moment gyroscope
- Linear parameter-varying
- mixed sensitivity
- optimal control
- pendulum
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LPV control of a gyroscope with inverted pendulum attachment. / Koelewijn, P.J.W.; Cisneros, P.S.G.; Werner, H.; Tóth, R.
In: IFAC-PapersOnLine, Vol. 51, No. 26, 23.11.2018, p. 49-54.Research output: Contribution to journal › Article › Academic › peer-review
TY - JOUR
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.
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
UR - http://www.scopus.com/inward/record.url?scp=85056918733&partnerID=8YFLogxK
U2 - 10.1016/j.ifacol.2018.11.169
DO - 10.1016/j.ifacol.2018.11.169
M3 - Article
VL - 51
SP - 49
EP - 54
JO - IFAC-PapersOnLine
T2 - IFAC-PapersOnLine
JF - IFAC-PapersOnLine
SN - 2405-8963
IS - 26
ER -