Constrained HControl Application to Inverted Pendulum with Control Moment Gyroscope

Unggul Wasiwitono, Arif Wahjudi, Ari Kurniawan Saputra

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

1 Citation (Scopus)

Abstract

This paper presents the dynamics and control of a gyroscopic inverted pendulum where the stabilization of the inverted pendulum is achieved by control torque generated by gyroscopic precession momentum. Two flywheels rotating in opposite directions at the same speed are considered. The control strategy is proposed to stabilize the inverted pendulum at the upwarp unstable equilibrium position and to maintain the gimbal angle as small as possible. Such a problem is formulated as a constrained H∞ disturbance attenuation problem and then transformed into a solving of Linear Matrix Inequalities (LMIs). The effectiveness of the H∞ state-feedback controller is illustrated through simulation. It is shown that the state-feedback control strategy effectively stabilizes the inverted pendulum.

Original languageEnglish
Title of host publication2019 International Conference on Advanced Mechatronics, Intelligent Manufacture and Industrial Automation, ICAMIMIA 2019 - Proceeding
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages86-90
Number of pages5
ISBN (Electronic)9781728130903
DOIs
Publication statusPublished - Oct 2019
Event2019 International Conference on Advanced Mechatronics, Intelligent Manufacture and Industrial Automation, ICAMIMIA 2019 - Batu-Malang, Indonesia
Duration: 9 Oct 201910 Oct 2019

Publication series

Name2019 International Conference on Advanced Mechatronics, Intelligent Manufacture and Industrial Automation, ICAMIMIA 2019 - Proceeding

Conference

Conference2019 International Conference on Advanced Mechatronics, Intelligent Manufacture and Industrial Automation, ICAMIMIA 2019
Country/TerritoryIndonesia
CityBatu-Malang
Period9/10/1910/10/19

Keywords

  • component
  • formatting
  • insert
  • style
  • styling

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