Geometric modeling and robust control of a gyroscopic system
Autor(a) principal: | |
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Data de Publicação: | 2015 |
Outros Autores: | , , , |
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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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 |
dc.source.none.fl_str_mv |
Scopus 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 |
|
_version_ |
1808128367764963328 |