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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