Nonlinear parameter-varying state-feedback design for a gyroscope using virtual control contraction metrics

Ruigang Wang (Corresponding author), Patrick J.W. Koelewijn, Ian R. Manchester, Roland Tóth

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5 Citaten (Scopus)
2 Downloads (Pure)

Samenvatting

In this article, we present a virtual control contraction metric (VCCM) based nonlinear parameter-varying approach to design a state-feedback controller for a control moment gyroscope (CMG) to track a user-defined trajectory set. This VCCM based nonlinear (NL) stabilization and performance synthesis approach, which is similar to linear parameter-varying (LPV) control approaches, allows to achieve exact guarantees of exponential stability and (Formula presented.) -gain performance on NL systems with respect to all trajectories from the predetermined set, which is not the case with the conventional LPV methods. Simulation and experimental studies conducted in both fully- and under-actuated operating modes of the CMG show effectiveness of this approach compared with standard LPV control methods.

Originele taal-2Engels
Pagina's (van-tot)8147-8164
Aantal pagina's18
TijdschriftInternational Journal of Robust and Nonlinear Control
Volume31
Nummer van het tijdschrift17
DOI's
StatusGepubliceerd - 25 nov. 2021

Bibliografische nota

Publisher Copyright:
© 2021 John Wiley & Sons Ltd.

Copyright:
Copyright 2021 Elsevier B.V., All rights reserved.

Financiering

This work has received funding from the Australian Research Council under the Discovery Project DP150100577 and the European Research Council (ERC) under the European Union's Horizon 2020 Research and Innovation Programme (grant agreement nr. 714663).

FinanciersFinanciernummer
Horizon 2020 Framework Programme
H2020 European Research Council
European Research Council
Australian Research CouncilDP150100577
Horizon 2020714663

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