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

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.

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Gyroscopes
Pendulums
Controllers
Flywheels
Stabilization

Keywords

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

Cite this

Koelewijn, P.J.W. ; Cisneros, P.S.G. ; Werner, H. ; Tóth, R./ LPV control of a gyroscope with inverted pendulum attachment. In: IFAC-PapersOnLine. 2018 ; Vol. 51, No. 26. pp. 49-54
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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 journalArticleAcademicpeer-review

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AU - Tóth,R.

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