Geometric modeling and robust control of a gyroscopic system

Detalhes bibliográficos
Autor(a) principal: Colon, Diego
Data de Publicação: 2015
Outros Autores: Angelico, Bruno A., Toriumi, Fabio Y., Lidúario, Paulo U.M., Balthazar, Jośe M. [UNESP]
Tipo de documento: Artigo de conferência
Idioma: eng
Título da fonte: Repositório Institucional da UNESP
Texto Completo: http://dx.doi.org/10.1115/DETC201546477
http://hdl.handle.net/11449/228187
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.Lab. of Automation and Control (LAC) Dept. of Telecomm. And Control University of São PauloDept. of Mechanical Engineering Bauru Campus São Paulo State UniversityDept. of Mechanical Engineering Bauru Campus São Paulo State UniversityUniversidade de São Paulo (USP)Universidade Estadual Paulista (UNESP)Colon, DiegoAngelico, Bruno A.Toriumi, Fabio Y.Lidúario, Paulo U.M.Balthazar, Jośe M. [UNESP]2022-04-29T07:50:08Z2022-04-29T07:50:08Z2015-01-01info:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/conferenceObjecthttp://dx.doi.org/10.1115/DETC201546477Proceedings of the ASME Design Engineering Technical Conference, v. 8.http://hdl.handle.net/11449/22818710.1115/DETC2015464772-s2.0-84978976756Scopusreponame:Repositório Institucional da UNESPinstname:Universidade Estadual Paulista (UNESP)instacron:UNESPengProceedings of the ASME Design Engineering Technical Conferenceinfo:eu-repo/semantics/openAccess2024-06-28T13:55:18Zoai:repositorio.unesp.br:11449/228187Repositório InstitucionalPUBhttp://repositorio.unesp.br/oai/requestopendoar:29462024-08-05T14:29:39.828616Repositório 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.
Lidúario, Paulo U.M.
Balthazar, Jośe M. [UNESP]
author_role author
author2 Angelico, Bruno A.
Toriumi, Fabio Y.
Lidúario, Paulo U.M.
Balthazar, Jośe M. [UNESP]
author2_role 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.
Lidúario, Paulo U.M.
Balthazar, Jośe M. [UNESP]
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 2015
dc.date.none.fl_str_mv 2015-01-01
2022-04-29T07:50:08Z
2022-04-29T07:50:08Z
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 http://dx.doi.org/10.1115/DETC201546477
Proceedings of the ASME Design Engineering Technical Conference, v. 8.
http://hdl.handle.net/11449/228187
10.1115/DETC201546477
2-s2.0-84978976756
url http://dx.doi.org/10.1115/DETC201546477
http://hdl.handle.net/11449/228187
identifier_str_mv Proceedings of the ASME Design Engineering Technical Conference, v. 8.
10.1115/DETC201546477
2-s2.0-84978976756
dc.language.iso.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv Proceedings of the ASME Design Engineering Technical Conference
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
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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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