Academic Journal
Global stabilization of a reaction wheel pendulum: A discrete-inverse optimal formulation approach via a control lyapunov function
| العنوان: | Global stabilization of a reaction wheel pendulum: A discrete-inverse optimal formulation approach via a control lyapunov function |
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| المؤلفون: | Montoya, Oscar Danilo, Gil-González, Walter, Domínguez Jiménez, Juan Antonio, Molina-Cabrera, Alexander, Giral-Ramírez, Diego Armando |
| المصدر: | Symmetry 2020 , 12 (11), 1771, Vol 12 no 11 |
| بيانات النشر: | Cartagena de Indias |
| سنة النشر: | 2020 |
| مصطلحات موضوعية: | Discrete-inverse optimal control, Global exponential stabilization, Reaction wheel pendulum, Parametric uncertainties, Discrete-affine systems, Cost functional |
| الوصف: | 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. |
| نوع الوثيقة: | article in journal/newspaper |
| وصف الملف: | 13 páginas; application/pdf |
| اللغة: | English |
| Relation: | Montoya, O.D.; Gil-González, W.; Dominguez-Jimenez, J.A.; Molina-Cabrera, A.; Giral-Ramírez, D.A. Global Stabilization of a Reaction Wheel Pendulum: A Discrete-Inverse Optimal Formulation Approach via A Control Lyapunov Function. Symmetry 2020, 12, 1771.; https://hdl.handle.net/20.500.12585/9544; https://www.mdpi.com/2073-8994/12/11/1771; Universidad Tecnológica de Bolívar; Repositorio Universidad Tecnológica de Bolívar |
| DOI: | 10.3390/sym12111771 |
| الاتاحة: | https://hdl.handle.net/20.500.12585/9544 https://www.mdpi.com/2073-8994/12/11/1771 https://doi.org/10.3390/sym12111771 |
| Rights: | http://creativecommons.org/licenses/by-nc-nd/4.0/ ; info:eu-repo/semantics/openAccess ; Attribution-NonCommercial-NoDerivatives 4.0 Internacional |
| رقم الانضمام: | edsbas.9BB41DD7 |
| قاعدة البيانات: | BASE |
| DOI: | 10.3390/sym12111771 |
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