Global stabilization of a reaction wheel pendulum: A discrete-inverse optimal formulation approach via a control lyapunov function

This paper deals with the global stabilization of the reaction wheel pendulum (RWP) in the discrete-time domain. The discrete-inverse optimal control approach via a control Lyapunov function (CLF) is employed to make the stabilization task. The main advantages of using this control methodology can be summarized as follows: (i) it guarantees exponential stability in closed-loop operation, and (ii) the inverse control law is optimal since it minimizes the cost functional of the system. Numerical simulations demonstrate that the RWP is stabilized with the discrete-inverse optimal control approach via a CLF with different settling times as a function of the control gains. Furthermore, parametric uncertainties and comparisons with nonlinear controllers such as passivity-based and Lyapunov-based approaches developed in the continuous-time domain have demonstrated the superiority of the proposed discrete control approach. All of these simulations have been implemented in the MATLAB software.

• Autores: Montoya, Oscar Danilo; Gil-González, Walter; Domínguez Jiménez, Juan Antonio; Molina-Cabrera, Alexander; Giral-Ramírez, Diego Armando
• Fecha de publicación: 2020
• Institución: Universidad Tecnológica de Bolívar
• Repositorio: Repositorio Institucional UTB
• Idioma: eng
• OAI Identifier: oai:repositorio.utb.edu.co:20.500.12585/9544
• Acceso en línea: https://hdl.handle.net/20.500.12585/9544; https://www.mdpi.com/2073-8994/12/11/1771
• Palabra clave: Discrete-inverse optimal control; Global exponential stabilization; Reaction wheel pendulum; Parametric uncertainties; Discrete-affine systems; Cost functional
• Rights: openAccess
• License: http://creativecommons.org/licenses/by-nc-nd/4.0/