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Nonlinear analysis and control of a reaction wheel pendulum: Lyapunov-based approach

dc.creatorMontoya, O.D.
dc.creatorGil-González, Walter
dc.date.accessioned2019-11-06T19:05:09Z
dc.date.available2019-11-06T19:05:09Z
dc.date.issued2019
dc.identifier.citationEngineering Science and Technology, an International Journal
dc.identifier.issn2215-0986
dc.identifier.urihttps://hdl.handle.net/20.500.12585/8722
dc.description.abstractThis paper presents a nonlinear analysis, control, and comparison of controllers based on the dynamical model of the reaction wheel pendulum (RWP) in a tutorial style. Classical methodologies such as proportional integral derivative (PID) control and state variables feedback control are explored. Lyapunov's method is proposed to analyze the stability of the proposed nonlinear controllers, and it is also used to design control laws guaranteeing globally asymptotically stability conditions in closed-loop. A swing up strategy is also included to bring the pendulum bar to the desired operating zone at the vertical upper position from an arbitrary initial location. Simulation results show that it is possible to obtain the same dynamical behavior of the RWP system adjusting the control gains adequately. All simulations were conducted via MATLAB Ordinary Differential Equation packages. © 2019 Karabuk Universityeng
dc.format.mediumRecurso electrónico
dc.format.mimetypeapplication/pdf
dc.language.isoeng
dc.publisherElsevier B.V.
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0/
dc.sourcehttps://www2.scopus.com/inward/record.uri?eid=2-s2.0-85064984148&doi=10.1016%2fj.jestch.2019.03.004&partnerID=40&md5=e21ac2582d93d2864351de9db73493f6
dc.sourceScopus 56919564100
dc.sourceScopus 57191493648
dc.titleNonlinear analysis and control of a reaction wheel pendulum: Lyapunov-based approach
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datacite.rightshttp://purl.org/coar/access_right/c_abf2
oaire.resourceTypehttp://purl.org/coar/resource_type/c_6501
oaire.versionhttp://purl.org/coar/version/c_970fb48d4fbd8a85
dc.type.driverinfo:eu-repo/semantics/article
dc.type.hasversioninfo:eu-repo/semantics/acceptedVersion
dc.identifier.doi10.1016/j.jestch.2019.03.004
dc.subject.keywordsControl Lyapunov functions
dc.subject.keywordsFeedback control
dc.subject.keywordsProportional-integral-derivative
dc.subject.keywordsReaction wheel pendulum
dc.subject.keywordsStability analysis
dc.rights.accessrightsinfo:eu-repo/semantics/openAccess
dc.rights.ccAtribución-NoComercial 4.0 Internacional
dc.identifier.instnameUniversidad Tecnológica de Bolívar
dc.identifier.reponameRepositorio UTB
dc.type.spaArtículo


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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.