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Attitude control of inverted pendulums using reaction wheels and variable speed control moment gyroscope

Grant number: 18/13751-8
Support type:Scholarships in Brazil - Doctorate (Direct)
Effective date (Start): December 01, 2018
Effective date (End): November 30, 2020
Field of knowledge:Engineering - Mechanical Engineering
Principal Investigator:Samuel da Silva
Grantee:João Francisco Silva Trentin
Home Institution: Faculdade de Engenharia (FEIS). Universidade Estadual Paulista (UNESP). Campus de Ilha Solteira. Ilha Solteira , SP, Brazil


Variable Speed Control Moment Gyroscope (VSCMG) is an innovative aerospace actuator used to control the attitude of satellites and spacecraft. This kind of mechanism gathers the favorable aspects of using a traditional Control Moment Gyroscope (CMG) but with the spin rate of the reaction wheel variable, being able to avoid singularities that occur when using CMGs. From the controlled change of angular momentum rate of change, it is possible to control the oscillation and direction rate of change of rigid bodies in space. Thus, the goal of this FAPESP direct doctorate is to investigate new pendulum configurations that are actuated by reaction wheels (two reaction wheels pendulum) or by a variable speed control moment gyroscope coupled to a spherical pendulum. This investigation can contribute to the use of the VSCMG mechanism in the field of robotics since robots models have been approximated by the dynamics of inverted pendulums for a long time and these pendulum configurations are unique and could present new interesting results. The control strategies to be applied will be derived from Lyapunov control theory and from variable structure control. This proposal presents the motivation for this work, objectives, part of the results obtained so far in the master's thesis, main contributions expected, the work plan with the estimated timetable, information about the candidate and the role of the collaborators of this proposal. (AU)

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