Eventos Anais de eventos
COBEM 2017
24th ABCM International Congress of Mechanical Engineering
Robust Control with Velocity Feedback of a Control Moment Gyroscope
Submission Author:
Diego Colón , SP
Co-Authors:
Bruno Augusto Angélico, Diego Colón
Presenter: Diego Colón
doi://10.26678/ABCM.COBEM2017.COB17-1628
Abstract
LQG/LTR is a robust control design technique based on frequency response, where the definition of stability and performance barriers plays a key role in its formulation. The stability robustness barrier depends on the inverse of the modeling error. For systems with pure resonance, the modeling error results in an infinite gain at the resonant frequency. This implies in an infinite attenuation at this frequency to the stability robustness barrier. This paper proposes a priori modification of the nominal model, so that the resonance peak is damped by a state feedback, eliminating the infinite attenuation in the stability robustness barrier. The methodology is applied to a Control Moment Gyroscope and practical results are presented in order to validate the proposed technique.
Keywords
Control Moment Gyroscope, robust control, Velocity Feedback, LQG/LTR
