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Global Stabilization of a Reaction Wheel Pendulum: A Discrete-Inverse Optimal Formulation Approach via A Control Lyapunov Function.
- Source :
-
Symmetry (20738994) . Nov2020, Vol. 12 Issue 11, p1771. 1p. - Publication Year :
- 2020
-
Abstract
- This paper deals with the global stabilization of the reaction wheel pendulum (RWP) in the discrete-time domain. The discrete-inverse optimal control approach via a control Lyapunov function (CLF) is employed to make the stabilization task. The main advantages of using this control methodology can be summarized as follows: (i) it guarantees exponential stability in closed-loop operation, and (ii) the inverse control law is optimal since it minimizes the cost functional of the system. Numerical simulations demonstrate that the RWP is stabilized with the discrete-inverse optimal control approach via a CLF with different settling times as a function of the control gains. Furthermore, parametric uncertainties and comparisons with nonlinear controllers such as passivity-based and Lyapunov-based approaches developed in the continuous-time domain have demonstrated the superiority of the proposed discrete control approach. All of these simulations have been implemented in the MATLAB software. [ABSTRACT FROM AUTHOR]
- Subjects :
- *LYAPUNOV functions
*PENDULUMS
*WHEELS
*EXPONENTIAL stability
*COMPUTER simulation
Subjects
Details
- Language :
- English
- ISSN :
- 20738994
- Volume :
- 12
- Issue :
- 11
- Database :
- Academic Search Index
- Journal :
- Symmetry (20738994)
- Publication Type :
- Academic Journal
- Accession number :
- 147284237
- Full Text :
- https://doi.org/10.3390/sym12111771