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Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
A stabilizing nonlinear controller for the reaction wheel pendulum
Its nonlinear and underactuated structure makes the reaction wheel pendulum a widely used test-bed in control and mechatronics labs to validate developed linear and nonlinear control laws practically. In this study, a nonlinear control law is introduced for the reduced model of the reaction wheel pendulum which stabilizes the pendulum at its unstable equilibrium point and the reaction wheel at an arbitrary angle. An almost global asymptotic stability result is obtained based on a Lyapunov function and La Salle's invariant set theorem. The proposed control law is validated by means of numerical simulations performed for a different set of initial conditions of the reaction wheel pendulum.
A stabilizing nonlinear controller for the reaction wheel pendulum
Its nonlinear and underactuated structure makes the reaction wheel pendulum a widely used test-bed in control and mechatronics labs to validate developed linear and nonlinear control laws practically. In this study, a nonlinear control law is introduced for the reduced model of the reaction wheel pendulum which stabilizes the pendulum at its unstable equilibrium point and the reaction wheel at an arbitrary angle. An almost global asymptotic stability result is obtained based on a Lyapunov function and La Salle's invariant set theorem. The proposed control law is validated by means of numerical simulations performed for a different set of initial conditions of the reaction wheel pendulum.
A stabilizing nonlinear controller for the reaction wheel pendulum
Turker, Turker (Autor:in) / Abdo, Dani (Autor:in)
20.02.2023
662916 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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