Robust H-2 controller with parametric uncertainties applied to a reaction wheel unicycle

Autor(es)

Neves, Gabriel P. ^[1] ; Angelico, Bruno A. ^[1] ; Agulhari, Cristiano M. ^[2]

Afiliação do(s) autor(es)

^[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

• Tipo de documento: Artigo Científico
• Fonte: International Journal of Control; v. 93, n. 10, p. 2431-2441, OCT 2 2020.
• Citações Web of Science: 3

Resumo

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)

• Processo FAPESP: 16/00729-9 - Modelagem, desenvolvimento e controle de um monociclo auto equilibrado
• Beneficiário: Gabriel Pereira das Neves
• Modalidade de apoio: Bolsas no Brasil - Mestrado
• Processo FAPESP: 17/22130-4 - Controle Robusto Aplicado
• Beneficiário: Bruno Augusto Angélico
• Modalidade de apoio: Auxílio à Pesquisa - Regular