Stabilization and disturbance attenuation control of the gyroscopic inverted pendulum
| Autor: | Unggul Wasiwitono, Ari Kurniawan Saputra, Yohanes, Arif Wahjudi |
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| Rok vydání: | 2020 |
| Předmět: |
Physics
0209 industrial biotechnology Disturbance (geology) Mechanical Engineering Attenuation Aerospace Engineering Gyroscope 02 engineering and technology Inverted pendulum law.invention Control moment gyroscope 020901 industrial engineering & automation Mechanics of Materials Control theory law Automotive Engineering 0202 electrical engineering electronic engineering information engineering 020201 artificial intelligence & image processing General Materials Science Actuator |
| Zdroj: | Journal of Vibration and Control. 27:415-425 |
| ISSN: | 1741-2986 1077-5463 |
| Popis: | In this study, a control moment gyroscope is used as an actuator to stabilize the inverted pendulum. A control strategy is proposed to stabilize the inverted pendulum at the upright unstable equilibrium point and to maintain the gimbal angle as small as possible. Such a problem is formulated as a constrained H∞ disturbance attenuation problem and then transformed into solving linear matrix inequalities. The performance of the proposed controller is evaluated through simulation for linear and nonlinear cases. It is shown that the proposed state-feedback control strategy effectively stabilizes the inverted pendulum. |
| Databáze: | OpenAIRE |
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