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

Autor(es)

Toriumi, Fabio Y. ; Angelico, Bruno A.

• Tipo de documento: Artigo Científico
• Fonte: IFAC PAPERSONLINE; v. 51, n. 25, p. 6-pg., 2018-01-01.

Resumo

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)

• Processo FAPESP: 17/22130-4 - Controle Robusto Aplicado
• Beneficiário: Bruno Augusto Angélico
• Modalidade de apoio: Auxílio à Pesquisa - Regular