Download PDFOpen PDF in browserPassivity-Based Control Applied of a Reaction Wheel Pendulum: an IDA-PBC ApproachEasyChair Preprint 20916 pages•Date: December 4, 2019AbstractThis paper presents the development of a nonlinear controller for the reaction wheel pendulum (RWP) via an interconnection and damping assignment passivity-based control (IDA-PBC) approach. The IDA-PBC approach works with the port-Hamiltonian open-loop dynamics of the RWP to propose a nonlinear controller that preserves the Hamiltonian structure in closed-loop by guaranteeing stability properties in the sense of Lyapunov. Numerical results confirm the theoretical development presented throughout simulations in Simulink package from MATLAB. Comparison with a Lyapunov-based approach is also provided. Keyphrases: Energy functions, Lyapunov's stability analysis, passivity-based control, reaction wheel pendulum
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