| Full text | |
| Author(s): |
Total Authors: 3
|
| Affiliation: | [1] Univ Sao Paulo, Dept Telecommun & Control Engn, Escola Politecn, Sao Paulo - Brazil
[2] Fed Univ Technol Parana UTFPR, Dept Elect Engn, Cornello Procoplo - Brazil
Total Affiliations: 2
|
| Document type: | Journal article |
| Source: | International Journal of Control; v. 93, n. 10, p. 2431-2441, OCT 2 2020. |
| Web of Science Citations: | 3 |
| Abstract | |
A robust H-2 controller is designed using an LMI-based technique. In this approach, the controller synthesis is similar to an LQR, but with the possibility of considering parametric uncertainties. The designed controller is applied to a reaction wheel unicycle robot, which is an unstable and sensitive system in terms of parametric errors. An implementation aspect regarding the dynamic torque limitation of the reaction wheel actuator is emphasised. Since the equivalent linear model is decoupled, a decentralised controller structure is fixed during the synthesis. Simulation and practical results are shown. A detailed description of the robot construction is also presented. (AU) | |
| FAPESP's process: | 16/00729-9 - Modeling, construction and control of a Self-balancing unicycle |
| Grantee: | Gabriel Pereira das Neves |
| Support Opportunities: | Scholarships in Brazil - Master |
| FAPESP's process: | 17/22130-4 - Applied Robust Control |
| Grantee: | Bruno Augusto Angélico |
| Support Opportunities: | Regular Research Grants |