Passivity-Based Control Applied of a Reaction Wheel Pendulum: an IDA-PBC Approach

This 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 cont...

Full description

Saved in:
Bibliographic Details
Published in2019 IEEE International Autumn Meeting on Power, Electronics and Computing (ROPEC) pp. 1 - 6
Main Authors Montoya, Oscar Danilo, Garrido, Victor Manuel, Gil-Gonzalez, Walter, Orozco-Henao, C.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.11.2019
Subjects
Damping
Energy functions
Jacobian matrices
Lyapunov's stability analysis
Mathematical model
Nonlinear dynamical systems
Numerical models
passivity-based control
Power system dynamics
reaction wheel pendulum
Wheels
Online AccessGet full text

Cover

More Information
Summary:This 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.
ISSN:2573-0770
DOI:10.1109/ROPEC48299.2019.9057105