Nonlinear parameter‐varying state‐feedback design for a gyroscope using virtual control contraction metrics. (5th May 2021)

• Record Type: Journal Article
• Authors: Wang, Ruigang; Koelewijn, Patrick J. W.; Manchester, Ian R.; Tóth, Roland
• Other Names: Sename Olivier guestEditor.; Rotondo Damiano guestEditor.
• Is Part Of: International journal of robust and nonlinear control. Volume 31:Number 17(2021)
• Page Start: 8147
• Page End: 8164
• Publication Date: 2021-05-05
• Subjects: contraction -- nonlinear parameter‐varying -- nonlinear system -- stability; Automatic control -- Periodicals; Control theory -- Periodicals; Nonlinear systems -- Periodicals; 629.836
• DOI: 10.1002/rnc.5559
• Languages: English
• ISSNs: 1049-8923

Abstract

Abstract: In this article, we present a virtual control contraction metric (VCCM) based nonlinear parameter‐varying approach to design a state‐feedback controller for a control moment gyroscope (CMG) to track a user‐defined trajectory set. This VCCM based nonlinear (NL) stabilization and performance synthesis approach, which is similar to linear parameter‐varying (LPV) control approaches, allows to achieve exact guarantees of exponential stability and ℒ 2 ‐gain performance on NL systems with respect to all trajectories from the predetermined set, which is not the case with the conventional LPV methods. Simulation and experimental studies conducted in both fully‐ and under‐actuated operating modes of the CMG show effectiveness of this approach compared with standard LPV control methods.