Adaptive control schemes applied to a control moment gyroscope of 2 degrees of freedom

Jorge Montoya-Cháirez, Víctor Santibáñez, Javier Moreno-Valenzuela

Research output: Contribution to journalArticleResearchpeer-review

Abstract

© 2018 Elsevier Ltd Control of underactuated mechanical systems has been an important trend in mechatronics and nonlinear systems. Typical examples are the Furuta pendulum and inertia wheel pendulum. On the other hand, gyroscopes are important in aerial and space systems. In this paper, a two-degree of freedom underactuated control moment gyroscope (CMG) is studied. This system is highly coupled of one joint to the another and is difficult to control, which make it an important benchmark system. The problem addressed in this paper is to achieve robust motion control of the underactuated CMG. Firstly, a trajectory tracking controller is developed by using the feedback linearization technique. Secondly, two new adaptive algorithms are introduced, which correspond to an adaptive neural network algorithm and an adaptive model regressor scheme. A real–time experimental comparison is carried out among a linear PD control law, a cascade PID-PID controller and the introduced schemes. The real-time experimental study validates the introduced theory, where the performance of the controllers is evaluated with and without a periodic disturbance at the input.
Original languageAmerican English
Pages (from-to)73-85
Number of pages64
JournalMechatronics
DOIs
StatePublished - 1 Feb 2019

Fingerprint

control moment gyroscopes
adaptive control
Gyroscopes
degrees of freedom
controllers
pendulums
inertia wheels
Pendulums
Controllers
gyroscopes
linearization
wheels
nonlinear systems
Feedback linearization
Mechatronics
Motion control
Robust control
cascades
Adaptive algorithms
disturbances

Cite this

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title = "Adaptive control schemes applied to a control moment gyroscope of 2 degrees of freedom",
abstract = "{\circledC} 2018 Elsevier Ltd Control of underactuated mechanical systems has been an important trend in mechatronics and nonlinear systems. Typical examples are the Furuta pendulum and inertia wheel pendulum. On the other hand, gyroscopes are important in aerial and space systems. In this paper, a two-degree of freedom underactuated control moment gyroscope (CMG) is studied. This system is highly coupled of one joint to the another and is difficult to control, which make it an important benchmark system. The problem addressed in this paper is to achieve robust motion control of the underactuated CMG. Firstly, a trajectory tracking controller is developed by using the feedback linearization technique. Secondly, two new adaptive algorithms are introduced, which correspond to an adaptive neural network algorithm and an adaptive model regressor scheme. A real–time experimental comparison is carried out among a linear PD control law, a cascade PID-PID controller and the introduced schemes. The real-time experimental study validates the introduced theory, where the performance of the controllers is evaluated with and without a periodic disturbance at the input.",
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Adaptive control schemes applied to a control moment gyroscope of 2 degrees of freedom. / Montoya-Cháirez, Jorge; Santibáñez, Víctor; Moreno-Valenzuela, Javier.

In: Mechatronics, 01.02.2019, p. 73-85.

Research output: Contribution to journalArticleResearchpeer-review

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