Feedback Linearization Approach Applied to a Control Moment Gyroscope with SISO Configuration

To effectively reject the gyroscopic effects and moving-gimbal effects of the double gimbal magnetically suspended control moment gyroscope (DGMSCMG) and to avoid high control effort, this paper proposes a novel control method based on modal decoupling strategy. Modal controller is employed to realize the modal separation of the translation and rotation modes of the magnetically suspended rotor (MSR). Then the dynamic coupling among the two rotation modes of the MSR system and the two rotational motions of the gimbal servo systems have been decoupled by using differential geometry theory. Dynamic compensation filters have been designed to improve the decoupling performance and the system stability without large control resource. Compared with the existing channel decoupling method, the presented one can not only realize the separate control of stiffness and damping of the MSR but also simplify the control system design significantly. The simulation results verify the effectiveness and superiority of the proposed method.

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Research on fault diagnosis method of control moment gyroscope based on K-means algorithm

2020 39th Chinese Control Conference (CCC) ◽

10.23919/ccc50068.2020.9189638 ◽

2020 ◽

Author(s):

Wenjing Liu ◽

Li Yuan ◽

Shuyi Wang ◽

Chengrui Liu

Keyword(s):

Fault Diagnosis ◽

Control Moment Gyroscope ◽

Control Moment ◽

Diagnosis Method

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Model-based fault detection filter for Markovian jump linear systems applied to a control moment gyroscope

European Journal of Control ◽

10.1016/j.ejcon.2021.02.003 ◽

2021 ◽

Vol 59 ◽

pp. 99-108

Author(s):

Leonardo de Paula Carvalho ◽

Fabio Yukio Toriumi ◽

Bruno Augusto Angélico ◽

Oswaldo Luiz do Valle Costa

Keyword(s):

Fault Detection ◽

Linear Systems ◽

Markovian Jump ◽

Jump Linear Systems ◽

Control Moment Gyroscope ◽

Fault Detection Filter ◽

Model Based ◽

Control Moment ◽

Markovian Jump Linear Systems ◽

Detection Filter

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Oscillating Control Moment Gyroscope Experimental Results

AIAA Scitech 2019 Forum ◽

10.2514/6.2019-0937 ◽

2019 ◽

Author(s):

Burak Akbulut ◽

Ozan Tekinalp ◽

Ferhat Arberkli ◽

Kivanc Azgin

Keyword(s):

Experimental Results ◽

Control Moment Gyroscope ◽

Control Moment

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A phase-leading compensation method used to control nutation of magnetically suspended rotor in control moment gyroscope

10.1117/12.522314 ◽

2003 ◽

Author(s):

Tong Wei ◽

Jiancheng Fang

Keyword(s):

Compensation Method ◽

Control Moment Gyroscope ◽

Control Moment

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A Robust Control Design Approach Combining Exact Linearization and High-Gain PI-Observer

Volume 5: 6th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, Parts A, B, and C ◽

10.1115/detc2007-34344 ◽

2007 ◽

Cited By ~ 1

Author(s):

Yan Liu ◽

Dirk So¨ffker

Keyword(s):

Feedback Linearization ◽

Control Method ◽

High Gain ◽

Observer Design ◽

Input State ◽

Exact Linearization ◽

Practical Applications ◽

Robust Control Design ◽

Nonlinear Control Method ◽

Feedback Linearization Approach

This paper introduces a robust nonlinear control method combining classical feedback linearization and a high-gain PI-Observer (Proportional-Integral Observer) approach that can be applied to control a nonlinear single-input system with uncertainties or unknown effects. It is known that the lack of robustness of the feedback linearization approach limits its practical applications. The presented approach improves the robustness properties and extends the application area of the feedback linearization control. The approach is developed analytically and fully illustrated. An example which uses input-state linearization and PI-Observer design is given to illustrate the idea and to demonstrate the advantages.

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Dynamic modeling and design of controller for the 2-DoF serial chain actuated by a cable-driven robot based on feedback linearization

Proceedings of the Institution of Mechanical Engineers Part C Journal of Mechanical Engineering Science ◽

10.1177/09544062211027922 ◽

2021 ◽

pp. 095440622110279

Author(s):

Vahid Bahrami ◽

Ahmad Kalhor ◽

Mehdi Tale Masouleh

Keyword(s):

Dynamic Modeling ◽

Pid Controller ◽

Feedback Linearization ◽

Tracking Error ◽

Pid Controllers ◽

Serial Chain ◽

Simulation Results ◽

The Stability ◽

Feedback Linearization Approach ◽

Bounded Disturbance

This study intends to investigate a dynamic modeling and design of controller for a planar serial chain, performing 2-DoF, in interaction with a cable-driven robot. The under study system can be used as a rehabilitation setup which is helpful for those with arm disability. The latter goal can be achieved by applying the positive tensions of the cable-driven robot which are designed based on feedback linearization approach. To this end, the system dynamics formulation is developed using Lagrange approach and then the so-called Wrench-Closure Workspace (WCW) analysis is performed. Moreover, in the feedback linearization approach, the PD and PID controllers are used as auxiliary controllers input and the stability of the system is guaranteed as a whole. From the simulation results it follows that, in the presence of bounded disturbance based on Roots Mean Square Error (RMSE) criteria, the PID controller has better performance and tracking error of the 2-DoF robot joints are improved 15.29% and 24.32%, respectively.

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Towards Automated Bicycles: Achieving Self-Balance Using Steering Control

Volume 2: Control and Optimization of Connected and Automated Ground Vehicles; Dynamic Systems and Control Education; Dynamics and Control of Renewable Energy Systems; Energy Harvesting; Energy Systems; Estimation and Identification; Intelligent Transportation and Vehicles; Manufacturing; Mechatronics; Modeling and Control of IC Engines and Aftertreatment Systems; Modeling and Control of IC Engines and Powertrain Systems; Modeling and Management of Power Systems ◽

10.1115/dscc2018-9244 ◽

2018 ◽

Author(s):

Wenhao Deng ◽

Skyler Moore ◽

Jonathan Bush ◽

Miles Mabey ◽

Wenlong Zhang

Keyword(s):

Autonomous Vehicles ◽

Controller Design ◽

Smart Cities ◽

Autonomous Driving ◽

Human Robot Interaction ◽

Steering Control ◽

Control Moment Gyroscope ◽

Control Moment ◽

Potential Applications ◽

Electric Bicycle

In recent years, researchers from both academia and industry have worked on connected and automated vehicles and they have made great progress toward bringing them into reality. Compared to automated cars, bicycles are more affordable to daily commuters, as well as more environmentally friendly. When comparing the risk posed by autonomous vehicles to pedestrians and motorists, automated bicycles are much safer than autonomous cars, which also allows potential applications in smart cities, rehabilitation, and exercise. The biggest challenge in automating bicycles is the inherent problem of staying balanced. This paper presents a modified electric bicycle to allow real-time monitoring of the roll angles and motor-assisted steering. Stable and robust steering controllers for bicycle are designed and implemented to achieve self-balance at different forward speeds. Tests at different speeds have been conducted to verify the effectiveness of hardware development and controller design. The preliminary design using a control moment gyroscope (CMG) to achieve self-balancing at lower speeds are also presented in this work. This work can serve as a solid foundation for future study of human-robot interaction and autonomous driving.

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