Passivity-based control applied of a reaction wheel pendulum: An IDA-PBC approach
This paper presents the development of a nonlinear controller for the reaction wheel pendulum (RWP) via an interconnection and damping assignment passivity-based control (IDA-PBC) approach. The IDA-PBC approach works with the port-Hamiltonian open-loop dynamics of the RWP to propose a nonlinear cont...
- Autores:
-
Montoya, Oscar Danilo
Garrido, Victor Manuel
Gil-Gonzalez, Walter
Orozco-Henao, C.
- Tipo de recurso:
- Fecha de publicación:
- 2019
- Institución:
- Universidad Tecnológica de Bolívar
- Repositorio:
- Repositorio Institucional UTB
- Idioma:
- eng
- OAI Identifier:
- oai:repositorio.utb.edu.co:20.500.12585/12406
- Acceso en línea:
- https://hdl.handle.net/20.500.12585/12406
- Palabra clave:
- Energy functions
Lyapunov's stability analysis
Passivity-based control
Reaction wheel pendulum
- Rights
- openAccess
- License
- http://creativecommons.org/licenses/by-nc-nd/4.0/
| Summary: | This paper presents the development of a nonlinear controller for the reaction wheel pendulum (RWP) via an interconnection and damping assignment passivity-based control (IDA-PBC) approach. The IDA-PBC approach works with the port-Hamiltonian open-loop dynamics of the RWP to propose a nonlinear controller that preserves the Hamiltonian structure in closed-loop by guaranteeing stability properties in the sense of Lyapunov. Numerical results confirm the theoretical development presented throughout simulations in Simulink package from MATLAB. Comparison with a Lyapunov-based approach is also provided |
|---|