Global stabilization of a reaction wheel pendulum: A discrete-inverse optimal formulation approach via a control lyapunov function
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Date
2020-10-26
Authors
Montoya, Oscar Danilo
Gil-González, Walter
Domínguez Jiménez, Juan Antonio
Molina-Cabrera, Alexander
Giral-Ramírez, Diego Armando
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Abstract
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.
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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.