Global control of reaction wheel pendulum through energy regulation and extended linearization of the state variables

  • Oscar D. Montoya-Giraldo Universidad Tecnológica de Pereira, Pereira
  • Luis F. Grisales-Noreña Universidad Tecnológica de Pereira, Pereira
  • Víctor D. Correa-Ramírez Universidad Tecnológica de Pereira, Pereira
  • Didier Giraldo-Buitrago Universidad Tecnológica de Pereira, Pereira
Keywords: Switching global control, extended linearization, reaction wheel pendulum, energy regulation, state variables.

Abstract

This paper presents the design and simulation of a global controller for the Reaction Wheel Pendulum system using energy regulation and extended linearization methods for the state feedback. The proposed energy regulation is based on the gradual reduction of the energy of the system to reach the unstable equilibrium point. The signal input for this task is obtained from the Lyapunov stability theory. The extended state feedback controller design is used to get a smooth nonlinear function that extends the region of operation to a bigger range, in contrast with the static linear state feedback obtained through the method of approximate linearization around an operating point. The general designed controller operates with a switching between the two control signals depending upon the region of operation; perturbations are applied in the control signal and the (simulated) measured variables to verify the robustness and efficiency of the controller. Finally, simulations and tests using the model of the reaction wheel pendulum system, allow to observe the versatility and functionality of the proposed controller in the entire operation region of the pendulum.

Author Biographies

Oscar D. Montoya-Giraldo, Universidad Tecnológica de Pereira, Pereira
Facultad de Ingenierías Eléctrica, Electrónica, Física y de Sistemas y Computación, Universidad Tecnológica de Pereira, Pereira
Luis F. Grisales-Noreña, Universidad Tecnológica de Pereira, Pereira
Facultad de Ingenierías Eléctrica, Electrónica, Física y de Sistemas y Computación, Universidad Tecnológica de Pereira, Pereira
Víctor D. Correa-Ramírez, Universidad Tecnológica de Pereira, Pereira
Facultad de Ingenierías Eléctrica, Electrónica, Física y de Sistemas y Computación, Universidad Tecnológica de Pereira, Pereira
Didier Giraldo-Buitrago, Universidad Tecnológica de Pereira, Pereira
Facultad de Ingenierías Eléctrica, Electrónica, Física y de Sistemas y Computación, Universidad Tecnológica de Pereira, Pereira
How to Cite
Montoya-Giraldo, O. D., Grisales-Noreña, L. F., Correa-Ramírez, V. D., & Giraldo-Buitrago, D. (2014). Global control of reaction wheel pendulum through energy regulation and extended linearization of the state variables. TecnoLógicas, 17(32), 33-46. https://doi.org/10.22430/22565337.199

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Published
2014-01-15
Section
Research Papers

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