Passivity-Based Control Applied of a Reaction Wheel Pendulum: an IDA-PBC Approach

Authors

Oscar Danilo Montoya, Victor Manuel Garrido, Walter Gil-Gonzalez, C. Orozco-Henao

Abstract

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.

Citation

• Journal: 2019 IEEE International Autumn Meeting on Power, Electronics and Computing (ROPEC)
• Year: 2019
• Volume:
• Issue:
• Pages: 1–6
• Publisher: IEEE
• DOI: 10.1109/ropec48299.2019.9057105

BibTeX

@inproceedings{Montoya_2019,
  title={{Passivity-Based Control Applied of a Reaction Wheel Pendulum: an IDA-PBC Approach}},
  DOI={10.1109/ropec48299.2019.9057105},
  booktitle={{2019 IEEE International Autumn Meeting on Power, Electronics and Computing (ROPEC)}},
  publisher={IEEE},
  author={Montoya, Oscar Danilo and Garrido, Victor Manuel and Gil-Gonzalez, Walter and Orozco-Henao, C.},
  year={2019},
  pages={1--6}
}

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