LPV gain-scheduled control of a control moment gyroscope

This paper presents the design and successful experimental validation of a linear parameter-varying (LPV) control strategy for a four-degrees-of-freedom control moment gyroscope (CMG). First, a linearized model with moving operating point is used to construct an LPV model. Then, a gridding-based LPV state-feedback control is designed that clearly outperforms linear time-invariant (LTI) controllers. Moreover, a way is proposed to select pre-filter gains for reference inputs that can be generalized to a large class of mechanical systems. Overall, the strategy allows a simple implementation in real-time. Experimental results illustrate that the proposed LPV controller achieves indeed a better performance in a much wider range of operation than linear controllers reported in the literature.