LPV gain-scheduled control of a control moment gyroscope

Publikationstyp
Conference Paper
Date Issued
2013
Sprache
English
Author(s)
Abbas, Hossam Seddik  
Ali, Ahsan  
Hashemi, Seyed Mahdi 
Werner, Herbert  
Institut
Regelungstechnik E-14  
TORE-URI
http://hdl.handle.net/11420/6364
Start Page
6841
End Page
6846
Article Number
6580913
Citation
American Control Conference (ACC), 2013 : 17 - 19 June 2013, Washington, DC, USA / American Automatic Control Council (AACC). - Piscataway, NJ : IEEE, 2013. - 6580913 i.e. Seite 6841-6846
Contribution to Conference
1st American Control Conference, ACC 2013, Washington, DC, United States  
Publisher
IEEE
This paper presents the design and successful experimental validation of a linear parameter-varying (LPV) control strategy for a four-degrees-of-freedom control moment gyroscope (CMG). First, a linearized model with moving operating point is used to construct an LPV model. Then, a gridding-based LPV state-feedback control is designed that clearly outperforms linear time-invariant (LTI) controllers. Moreover, a way is proposed to select pre-filter gains for reference inputs that can be generalized to a large class of mechanical systems. Overall, the strategy allows a simple implementation in real-time. Experimental results illustrate that the proposed LPV controller achieves indeed a better performance in a much wider range of operation than linear controllers reported in the literature. © 2013 AACC American Automatic Control Council.
DDC Class
620: Ingenieurwissenschaften