Inverted Pendulum Nonlinear Controllers Using Two Reaction Wheels: Design and Implementation

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MetadadosDescriçãoIdioma
Autor(es): dc.contributorUniversidade Estadual Paulista (Unesp)-
Autor(es): dc.contributorUniversity of Colorado Boulder-
Autor(es): dc.creatorTrentin, João Francisco Silva [UNESP]-
Autor(es): dc.creatorDa Silva, Samuel [UNESP]-
Autor(es): dc.creatorDe Souza Ribeiro, Jean Marcos [UNESP]-
Autor(es): dc.creatorSchaub, Hanspeter-
Data de aceite: dc.date.accessioned2022-02-22T00:30:28Z-
Data de disponibilização: dc.date.available2022-02-22T00:30:28Z-
Data de envio: dc.date.issued2020-12-11-
Data de envio: dc.date.issued2020-12-11-
Data de envio: dc.date.issued2019-12-31-
Fonte completa do material: dc.identifierhttp://dx.doi.org/10.1109/ACCESS.2020.2988800-
Fonte completa do material: dc.identifierhttp://hdl.handle.net/11449/200393-
Fonte: dc.identifier.urihttp://educapes.capes.gov.br/handle/11449/200393-
Descrição: dc.descriptionReaction wheels have been extensively used to control and stabilize a wide range of applications due to the angular momentum exchange that they provide to mechanical systems. However, there exist several limitations associated with actuator saturation and the presence of singularities that lead towards the use of different controllers and devices. Recently, a new and unusual configuration using two reaction wheels was proposed and illustrated in an inverted pendulum to drive and control it using a simple and well-known PID controller. In this context, this paper improves the previous results on the same system by proposing two more sophisticated nonlinear controllers: a nonlinear proportional-derivative and a sliding mode controller. The proof of the stability of each controller is also provided, and the asymptotic stability is proven. A friction model is experimentally updated into the differential equations of the pendulum and also included for the controllers designing. A real-time application verifies the performance of the controllers using low-cost hardware. Results based on the analysis of different performance indices highlight the improvement of applying these two nonlinear control techniques comparing to the previous paper using this configuration of actuators.-
Descrição: dc.descriptionDepartamento de Engenharia Mecânica Faculdade de Engenharia de Ilha Solteira Universidade Estadual Paulista (UNESP)-
Descrição: dc.descriptionDepartamento de Engenharia Elétrica Faculdade de Engenharia de Ilha Solteira Universidade Estadual Paulista (UNESP)-
Descrição: dc.descriptionDepartment of Aerospace Engineering Sciences Colorado Center for Astrodynamics Research University of Colorado Boulder-
Descrição: dc.descriptionDepartamento de Engenharia Mecânica Faculdade de Engenharia de Ilha Solteira Universidade Estadual Paulista (UNESP)-
Descrição: dc.descriptionDepartamento de Engenharia Elétrica Faculdade de Engenharia de Ilha Solteira Universidade Estadual Paulista (UNESP)-
Formato: dc.format74922-74932-
Idioma: dc.languageen-
Relação: dc.relationIEEE Access-
???dc.source???: dc.sourceScopus-
Palavras-chave: dc.subjectInverted pendulum-
Palavras-chave: dc.subjectlow-cost hardware-
Palavras-chave: dc.subjectreaction wheels-
Palavras-chave: dc.subjectsliding mode control-
Título: dc.titleInverted Pendulum Nonlinear Controllers Using Two Reaction Wheels: Design and Implementation-
Tipo de arquivo: dc.typelivro digital-
Aparece nas coleções:Repositório Institucional - Unesp

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