Self-scheduled control of a gyroscope

Publikationstyp
Conference Paper
Date Issued
2014
Sprache
English
Author(s)
Theis, Julian  orcid-logo
Radisch, Christian  
Werner, Herbert  
Institut
Regelungstechnik E-14  
TORE-URI
http://hdl.handle.net/11420/14659
Journal
IFAC Proceedings Volumes  
Volume
19
Start Page
6129
End Page
6134
Citation
IFAC Proceedings Volumes 19: 6129-6134 (2014)
Publisher DOI
10.3182/20140824-6-za-1003.01058
Scopus ID
2-s2.0-84929815857
A classical mixed sensitivity minimization approach and a model matching formulation are compared with the goal to design a linear parameter-varying augmented state feedback control law for a laboratory-scale control moment gyroscope. Dynamic weighting filters are used to impose integral action and roll-off on the controller. Consequently, measurement noise is effectively suppressed and steady state accuracy is guaranteed even in the presence of input disturbances. Both designs are validated in real-time experiments and compared to a previous design that uses static weights. With the new designs, control effort is reduced while transient performance is maintained and tracking accuracy, as well as disturbance attenuation, is improved.
Subjects
Gyroscopes
Linear parameter-varying systems
Mixed sensitivity problem
Multivariable control systems
Robust control applications
Robust controller synthesis