LPV control of a gyroscope with inverted pendulum attachment

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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600: Technik

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https://creativecommons.org/licenses/by-nc-nd/4.0/

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1-s2.0-S2405896318328325-main.pdf

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1.76 MB

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LPV control of a gyroscope with inverted pendulum attachment