Robust Nonlinear Control Applied to a Control Moment Gyroscope with SISO Configuration

Author(s)

Toriumi, Fabio Y. ; Angelico, Bruno A.

• Document type: Journal article
• Source: IFAC PAPERSONLINE; v. 51, n. 25, p. 6-pg., 2018-01-01.

Abstract

This paper presents a robust nonlinear control design for a control moment gyroscope (CMG) in its single-input/single-output (SISO) configuration. The CMG unit, model 750 from Educational Control Products, is described, as well as its SISO dynamics. The control design is based on a sliding-mode control approach and aims at tracking a desired output trajectory in a wide operational range, despite uncertainties on some model parameters and output disturbances. Results are obtained from both numerical simulations and real-time practical experiments to validate the controller. (C) 2018, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved. (AU)

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