Title :
Stabilization of the reaction wheel pendulum using an energy approach
Author :
Fantoni, I. ; Lozano, R. ; Spong, M.W.
Author_Institution :
Heudiasyc, UTC, Compiegne, France
Abstract :
Control design methods for the control of the reaction wheel pendulum using a single actuator are presented in this paper. The control algorithms are based on the energy of the system and its passivity properties.
Keywords :
actuators; control system synthesis; nonlinear control systems; pendulums; stability; actuator; control algorithm; control design method; energy approach; passivity property; reaction wheel pendulum; stabilization; Equations; Europe; Lyapunov methods; Mathematical model; Trajectory; Vectors; Wheels; Dissipative and Energy-based Design; Lyapunov Design; Mechatronic Systems; Stabilization of Non-linear Systems; Underactuated mechanical Systems;
Conference_Titel :
Control Conference (ECC), 2001 European
Conference_Location :
Porto
Print_ISBN :
978-3-9524173-6-2
