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 journalArticleAcademicpeer-review

3 Citations (Scopus)
21 Downloads (Pure)

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 languageEnglish
Pages (from-to)49-54
Number of pages6
JournalIFAC-PapersOnLine
Volume51
Issue number26
DOIs
Publication statusPublished - 23 Nov 2018
Event2nd IFAC Workshop on Linear Parameter Varying Systems LPVS 2018 - Florianópolis, Brazil
Duration: 3 Sep 20185 Sep 2018
Conference number: 2

Keywords

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

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