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Passivity-based control applied of a reaction wheel pendulum: An IDA-PBC approach

dc.contributor.authorMontoya, Oscar Danilo
dc.contributor.authorGarrido, Victor Manuel
dc.contributor.authorGil-Gonzalez, Walter
dc.contributor.authorOrozco-Henao, C.
dc.date.accessioned2023-07-24T18:49:16Z
dc.date.available2023-07-24T18:49:16Z
dc.date.issued2019-11
dc.date.submitted2023-07
dc.identifier.citationMontoya, O.D., Garrido, V.M. , Gil-Gonzalez, W., Orozco-Henao, C. Passivity-based control applied of a reaction wheel pendulum: An IDA-PBC approach (2019) 2019 IEEE International Autumn Meeting on Power, Electronics and Computing, ROPEC 2019, art. no. 9057105, DOI: 10.1109/ROPEC48299.2019.9057105spa
dc.identifier.urihttps://hdl.handle.net/20.500.12585/12406
dc.description.abstractThis paper presents the development of a nonlinear controller for the reaction wheel pendulum (RWP) via an interconnection and damping assignment passivity-based control (IDA-PBC) approach. The IDA-PBC approach works with the port-Hamiltonian open-loop dynamics of the RWP to propose a nonlinear controller that preserves the Hamiltonian structure in closed-loop by guaranteeing stability properties in the sense of Lyapunov. Numerical results confirm the theoretical development presented throughout simulations in Simulink package from MATLAB. Comparison with a Lyapunov-based approach is also providedspa
dc.format.mimetypeapplication/pdfspa
dc.language.isoengspa
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0/*
dc.source2019 IEEE International Autumn Meeting on Power, Electronics and Computing, ROPEC 2019spa
dc.titlePassivity-based control applied of a reaction wheel pendulum: An IDA-PBC approachspa
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datacite.rightshttp://purl.org/coar/access_right/c_abf2spa
oaire.versionhttp://purl.org/coar/version/c_b1a7d7d4d402bccespa
dc.type.driverinfo:eu-repo/semantics/articlespa
dc.type.hasversioninfo:eu-repo/semantics/draftspa
dc.identifier.doi10.1109/ROPEC48299.2019.9057105
dc.subject.keywordsEnergy functionsspa
dc.subject.keywordsLyapunov's stability analysisspa
dc.subject.keywordsPassivity-based controlspa
dc.subject.keywordsReaction wheel pendulumspa
dc.rights.accessrightsinfo:eu-repo/semantics/openAccessspa
dc.rights.ccAttribution-NonCommercial-NoDerivatives 4.0 Internacional*
dc.identifier.instnameUniversidad Tecnológica de Bolívarspa
dc.identifier.reponameRepositorio Universidad Tecnológica de Bolívarspa
dc.publisher.placeCartagena de Indiasspa
dc.type.spahttp://purl.org/coar/resource_type/c_6501spa
oaire.resourcetypehttp://purl.org/coar/resource_type/c_2df8fbb1spa


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Universidad Tecnológica de Bolívar - 2017 Institución de Educación Superior sujeta a inspección y vigilancia por el Ministerio de Educación Nacional. Resolución No 961 del 26 de octubre de 1970 a través de la cual la Gobernación de Bolívar otorga la Personería Jurídica a la Universidad Tecnológica de Bolívar.