Advanced search
Start date
Betweenand
Related content
(Reference retrieved automatically from Web of Science through information on FAPESP grant and its corresponding number as mentioned in the publication by the authors.)

Passivity-Based Nonlinear Control Approach for Tracking Task of an Underactuated CMG

Full text
Author(s):
Toriumi, Fabio Yukio [1] ; Angelico, Bruno Augusto [1]
Total Authors: 2
Affiliation:
[1] Univ Sao Paulo, Escola Politecn, Dept Telecommun & Control Engn, BR-05508010 Sao Paulo - Brazil
Total Affiliations: 1
Document type: Journal article
Source: IEEE-ASME TRANSACTIONS ON MECHATRONICS; v. 26, n. 5, p. 2285-2293, OCT 2021.
Web of Science Citations: 0
Abstract

This article proposes a passivity-based nonlinear control approach to deal with the tracking task of a control moment gyroscope (CMG), which is an underactuated nonlinear MIMO system with coupled dynamics, where the main goal is the tracking of the unactuated states in a wide range of operation. To overcome this underactuation, the proposed nonlinear controller employs the CMG intrinsic reaction torques. The closed-loop system stability is analyzed by invoking the Lyapunov stability and Matrosov's theorem. Numerical simulations and real-time practical experiments with the real plant are performed to validate the proposed nonlinear controller, as well as its performance is analyzed by contrasting the experiment results with the ones obtained by authors' previous established nonlinear controllers. (AU)

FAPESP's process: 17/22130-4 - Applied Robust Control
Grantee:Bruno Augusto Angélico
Support Opportunities: Regular Research Grants