GEOMETRIC MODELING AND ROBUST CONTROL OF A GYROSCOPIC SYSTEM

Detalhes bibliográficos
Autor(a) principal: Colon, Diego
Data de Publicação: 2016
Outros Autores: Angelico, Bruno A., Toriumi, Fabio Y., Liduario, Paulo U. M., Balthazar, Jose M. [UNESP], ASME
Tipo de documento: Artigo de conferência
Idioma: eng
Título da fonte: Repositório Institucional da UNESP
Texto Completo: http://hdl.handle.net/11449/161761
Resumo: Gyroscopic systems are multi-body systems which present coupled three dimensional motion. The configuration space and the state space are differentiable manifolds, and differential geometric concepts are frequently useful in the process of modeling. This paper deals with a Control Moment Gyroscope (CMG), which is not asymptotically stable, so it needs a stabilizing control law. We apply a new methodology of modeling kinematics and dynamics of rigid multi-body systems, based in the concept of Cartan's connection and covariant derivative. The systems has two inputs (torques) and two outputs (angles) that will be controlled by a robust linear closed-loop control technique (LQG/LTR). Experimental results are presented in order to validate the proposal.
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spelling GEOMETRIC MODELING AND ROBUST CONTROL OF A GYROSCOPIC SYSTEMGyroscopic systems are multi-body systems which present coupled three dimensional motion. The configuration space and the state space are differentiable manifolds, and differential geometric concepts are frequently useful in the process of modeling. This paper deals with a Control Moment Gyroscope (CMG), which is not asymptotically stable, so it needs a stabilizing control law. We apply a new methodology of modeling kinematics and dynamics of rigid multi-body systems, based in the concept of Cartan's connection and covariant derivative. The systems has two inputs (torques) and two outputs (angles) that will be controlled by a robust linear closed-loop control technique (LQG/LTR). Experimental results are presented in order to validate the proposal.Univ Sao Paulo, Dept Telecomm & Control, LAC, Sao Paulo, BrazilSao Paulo State Univ, Dept Mech Engn, Bauru Campus, Bauru, BrazilSao Paulo State Univ, Dept Mech Engn, Bauru Campus, Bauru, BrazilAmer Soc Mechanical EngineersUniversidade de São Paulo (USP)Universidade Estadual Paulista (Unesp)Colon, DiegoAngelico, Bruno A.Toriumi, Fabio Y.Liduario, Paulo U. M.Balthazar, Jose M. [UNESP]ASME2018-11-26T16:48:31Z2018-11-26T16:48:31Z2016-01-01info:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/conferenceObject10International Design Engineering Technical Conferences And Computers And Information In Engineering Conference, 2015, Vol 8. New York: Amer Soc Mechanical Engineers, 10 p., 2016.http://hdl.handle.net/11449/161761WOS:000380414000065Web of Sciencereponame:Repositório Institucional da UNESPinstname:Universidade Estadual Paulista (UNESP)instacron:UNESPengInternational Design Engineering Technical Conferences And Computers And Information In Engineering Conference, 2015, Vol 8info:eu-repo/semantics/openAccess2021-10-23T21:47:04Zoai:repositorio.unesp.br:11449/161761Repositório InstitucionalPUBhttp://repositorio.unesp.br/oai/requestopendoar:29462021-10-23T21:47:04Repositório Institucional da UNESP - Universidade Estadual Paulista (UNESP)false
dc.title.none.fl_str_mv GEOMETRIC MODELING AND ROBUST CONTROL OF A GYROSCOPIC SYSTEM
title GEOMETRIC MODELING AND ROBUST CONTROL OF A GYROSCOPIC SYSTEM
spellingShingle GEOMETRIC MODELING AND ROBUST CONTROL OF A GYROSCOPIC SYSTEM
Colon, Diego
title_short GEOMETRIC MODELING AND ROBUST CONTROL OF A GYROSCOPIC SYSTEM
title_full GEOMETRIC MODELING AND ROBUST CONTROL OF A GYROSCOPIC SYSTEM
title_fullStr GEOMETRIC MODELING AND ROBUST CONTROL OF A GYROSCOPIC SYSTEM
title_full_unstemmed GEOMETRIC MODELING AND ROBUST CONTROL OF A GYROSCOPIC SYSTEM
title_sort GEOMETRIC MODELING AND ROBUST CONTROL OF A GYROSCOPIC SYSTEM
author Colon, Diego
author_facet Colon, Diego
Angelico, Bruno A.
Toriumi, Fabio Y.
Liduario, Paulo U. M.
Balthazar, Jose M. [UNESP]
ASME
author_role author
author2 Angelico, Bruno A.
Toriumi, Fabio Y.
Liduario, Paulo U. M.
Balthazar, Jose M. [UNESP]
ASME
author2_role author
author
author
author
author
dc.contributor.none.fl_str_mv Universidade de São Paulo (USP)
Universidade Estadual Paulista (Unesp)
dc.contributor.author.fl_str_mv Colon, Diego
Angelico, Bruno A.
Toriumi, Fabio Y.
Liduario, Paulo U. M.
Balthazar, Jose M. [UNESP]
ASME
description Gyroscopic systems are multi-body systems which present coupled three dimensional motion. The configuration space and the state space are differentiable manifolds, and differential geometric concepts are frequently useful in the process of modeling. This paper deals with a Control Moment Gyroscope (CMG), which is not asymptotically stable, so it needs a stabilizing control law. We apply a new methodology of modeling kinematics and dynamics of rigid multi-body systems, based in the concept of Cartan's connection and covariant derivative. The systems has two inputs (torques) and two outputs (angles) that will be controlled by a robust linear closed-loop control technique (LQG/LTR). Experimental results are presented in order to validate the proposal.
publishDate 2016
dc.date.none.fl_str_mv 2016-01-01
2018-11-26T16:48:31Z
2018-11-26T16:48:31Z
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
dc.type.driver.fl_str_mv info:eu-repo/semantics/conferenceObject
format conferenceObject
status_str publishedVersion
dc.identifier.uri.fl_str_mv International Design Engineering Technical Conferences And Computers And Information In Engineering Conference, 2015, Vol 8. New York: Amer Soc Mechanical Engineers, 10 p., 2016.
http://hdl.handle.net/11449/161761
WOS:000380414000065
identifier_str_mv International Design Engineering Technical Conferences And Computers And Information In Engineering Conference, 2015, Vol 8. New York: Amer Soc Mechanical Engineers, 10 p., 2016.
WOS:000380414000065
url http://hdl.handle.net/11449/161761
dc.language.iso.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv International Design Engineering Technical Conferences And Computers And Information In Engineering Conference, 2015, Vol 8
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv 10
dc.publisher.none.fl_str_mv Amer Soc Mechanical Engineers
publisher.none.fl_str_mv Amer Soc Mechanical Engineers
dc.source.none.fl_str_mv Web of Science
reponame:Repositório Institucional da UNESP
instname:Universidade Estadual Paulista (UNESP)
instacron:UNESP
instname_str Universidade Estadual Paulista (UNESP)
instacron_str UNESP
institution UNESP
reponame_str Repositório Institucional da UNESP
collection Repositório Institucional da UNESP
repository.name.fl_str_mv Repositório Institucional da UNESP - Universidade Estadual Paulista (UNESP)
repository.mail.fl_str_mv
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