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 |
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Pages (from-to) | 49-54 |
Number of pages | 6 |
Journal | IFAC-PapersOnLine |
Volume | 51 |
Issue number | 26 |
DOIs | |
Publication status | Published - 23 Nov 2018 |
Event | 2nd IFAC Workshop on Linear Parameter Varying Systems LPVS 2018 - Florianópolis, Brazil Duration: 3 Sept 2018 → 5 Sept 2018 Conference number: 2 |
Keywords
- control moment gyroscope
- Linear parameter-varying
- mixed sensitivity
- optimal control
- pendulum