LPV state-feedback control of a control moment gyroscope |
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Affiliation: | 1. Electrical Engineering Department, Faculty of Engineering, Assiut University, 71515 Assiut, Egypt;2. Institute of Control Systems, Hamburg University of Technology, Eissendorfer str. 40, 21073 Hamburg, Germany |
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Abstract: | This paper presents the design and successful experimental validation of a linear parameter-varying (LPV) control strategy for a four-degrees-of-freedom control moment gyroscope (CMG). The MIMO plant is highly coupled and nonlinear. First, a linearized model with moving operating point is used to construct an LPV model. Then, a gridding-based LPV state-feedback control is designed that clearly outperforms linear time-invariant (LTI) controllers. Moreover, a way is proposed to select pre-filter gains for reference inputs that can be generalized to a large class of mechanical systems. Overall, the strategy allows a simple implementation in real-time and may be of interest for applications such as attitude control of a satellite. The method is applied to a laboratory scale CMG, and experimental results illustrate that the proposed LPV controller achieves indeed a better performance in a much wider range of operation than linear controllers reported in the literature. |
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Keywords: | Gyroscopes Control moment gyroscope Attitude gyros Linear parameter-varying systems Linearization Gain-scheduled control |
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