Variable Speed Control Moment Gyroscope in an Inverted Pendulum

Author(s)

Trentin, Joao F. S. ^[1] ; da Silva, Samuel ^[1] ; Schaub, Hanspeter ^[2]

Affiliation

^[1] Univ Estadual Paulista, UNESP, Fac Engn, Dept Engn Mecan, BR-15385000 Ilha Solteira, SP - Brazil

^[2] Univ Colorado, Colorado Ctr Astrodynam Res, Dept Aerosp Engn Sci, Boulder, CO 80309 - USA

• Document type: Journal article
• Source: JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME; v. 141, n. 11 NOV 2019.
• Web of Science Citations: 0

Abstract

The use of variable speed control moment gyroscope (VSCMG) is an effective way for attitude stabilization of aerospace devices. It is possible to control the oscillation and direction rate of change in rigid bodies in space due to the controlled change of angular momentum rate. Thus, this paper proposes an atypical pendulum configuration controlled by a VSCMG actuator. The idea of the VSCMG pendulum (VSCMGP) is to use both the angular momentum variation in amplitude and direction to implement the control. The controller is designed using Lyapunov theory to stabilize the pendulum in the inverted position. The results illustrate the control using a VSCMG in an inverted pendulum showing how the stabilization of an inverted pendulum is performed using two control actions. Also, the comparison of the proposed pendulum with a classical configuration is presented.<bold> </bold> (AU)

• FAPESP's process: 17/12985-2 - Variable speed control moment gyroscope applied in a reaction wheel pendulum
• Grantee: João Francisco Silva Trentin
• Support Opportunities: Scholarships abroad - Research Internship - Master's degree
• FAPESP's process: 18/13751-8 - Attitude control of inverted pendulums using reaction wheels and variable speed control moment gyroscope
• Grantee: João Francisco Silva Trentin
• Support Opportunities: Scholarships in Brazil - Doctorate (Direct)