Feedback Control with Equilibrium Revision for CMG-Actuated Inverted Pendulum
The chapter centers around the problem of design a feedback control for the control moment gyroscope (CMG)-actuated inverted pendulum with online equilibrium revision after the center of mass displacement. The methodology for the control synthesis is the linear–quadratic regulator. The equations of motion for the model of the inverted pendulum are derived. The control is synthesized and implemented both in an experimental plant and in a simulation model. The results of the experiment and simulation show the reliability of the synthesized control, which is proved to be able to deal with the center of mass displacement.
KeywordsCMG Inverted pendulum Feedback control Equilibrium revision
This chapter was supported by the Ministry of Education and Science of the Russian Federation (project no. 8.2321.2017/4.6).
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