Attitude control of a gyroscope actuator using event-based discrete-time approach
| Autor: | Nicolas Marchand, Thibaut Raharijaona, S. Durand, J.J. Martinez-Molina, B. Boisseau |
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| Přispěvatelé: | GIPSA - Systèmes non linéaires et complexité (GIPSA-SYSCO), Département Automatique (GIPSA-DA), Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS), Biorobotique (BIOROB), Institut des Sciences du Mouvement Etienne Jules Marey (ISM), Centre National de la Recherche Scientifique (CNRS)-Aix Marseille Université (AMU)-Centre National de la Recherche Scientifique (CNRS)-Aix Marseille Université (AMU), GIPSA - Systèmes linéaires et robustesse (GIPSA-SLR), Aix Marseille Université (AMU)-Centre National de la Recherche Scientifique (CNRS)-Aix Marseille Université (AMU)-Centre National de la Recherche Scientifique (CNRS) |
| Jazyk: | angličtina |
| Rok vydání: | 2015 |
| Předmět: |
Lyapunov function
0209 industrial biotechnology Engineering discrete-time event-based control business.industry Gyroscope 02 engineering and technology Linear-quadratic regulator law.invention [SPI.AUTO]Engineering Sciences [physics]/Automatic Attitude control symbols.namesake 020901 industrial engineering & automation Discrete time and continuous time law Control theory 0202 electrical engineering electronic engineering information engineering symbols Torque 020201 artificial intelligence & image processing Event-triggered control Actuator business |
| Zdroj: | EBCCSP 2015-1st IEEE Conference on Event-Based Control Communication and Signal Processing EBCCSP 2015-1st IEEE Conference on Event-Based Control Communication and Signal Processing, Jun 2015, Krakow, Poland. ⟨10.1109/EBCCSP.2015.7300677⟩ EBCCSP |
| DOI: | 10.1109/EBCCSP.2015.7300677⟩ |
| Popis: | International audience; In this paper, a discrete state feedback Linear Quadratic Regulator (LQR) for event-triggered control is presented. To ensure zero steady state error in the case of such controllers, one normally extends the states with an integral action. Instead of using integral action, the idea is to estimate the disturbance causing the steady state error and use this to extend the states. A Lyapunov-based event triggering function is proposed. Practical results using a gyroscope actuator are presented and compared to a classical time-triggered controller. The obtained results demonstrate the simplicity and efficiency of the proposed approach. |
| Databáze: | OpenAIRE |
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