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 › Article › Academic › peer-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 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

Access to Document

10.1016/j.ifacol.2018.11.169

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

Link to publication in Scopus

Fingerprint Dive into the research topics of 'LPV control of a gyroscope with inverted pendulum attachment'. Together they form a unique fingerprint.

Cite this

@article{43a1e6548bce4f3d80dafc10d8d3387e,

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",

year = "2018",

month = nov,

day = "23",

doi = "10.1016/j.ifacol.2018.11.169",

language = "English",

volume = "51",

pages = "49--54",

journal = "IFAC-PapersOnLine",

issn = "2405-8963",

publisher = "Elsevier",

number = "26",

note = "2nd IFAC Workshop on Linear Parameter Varying Systems LPVS 2018, LPVS 2018 ; Conference date: 03-09-2018 Through 05-09-2018",

}

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.

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

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

AN - SCOPUS:85056918733

VL - 51

SP - 49

EP - 54

JO - IFAC-PapersOnLine

JF - IFAC-PapersOnLine

SN - 2405-8963

IS - 26

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

Y2 - 3 September 2018 through 5 September 2018

ER -