Passivity-based control applied of a reaction wheel pendulum: An IDA-PBC approach

dc.creatorMontoya, Oscar Danilo
dc.creatorGarrido, Victor Manuel
dc.creatorGil-Gonzalez, Walter
dc.creatorOrozco-Henao, C.
dc.date.accessioned2023-07-24T18:49:16Z
dc.date.accessioned2023-09-06T15:42:21Z
dc.date.available2023-07-24T18:49:16Z
dc.date.available2023-09-06T15:42:21Z
dc.date.created2023-07-24T18:49:16Z
dc.date.issued2019-11
dc.identifierMontoya, O.D., Garrido, V.M. , Gil-Gonzalez, W., Orozco-Henao, C. Passivity-based control applied of a reaction wheel pendulum: An IDA-PBC approach (2019) 2019 IEEE International Autumn Meeting on Power, Electronics and Computing, ROPEC 2019, art. no. 9057105, DOI: 10.1109/ROPEC48299.2019.9057105
dc.identifierhttps://hdl.handle.net/20.500.12585/12406
dc.identifier10.1109/ROPEC48299.2019.9057105
dc.identifierUniversidad Tecnológica de Bolívar
dc.identifierRepositorio Universidad Tecnológica de Bolívar
dc.identifier.urihttps://repositorioslatinoamericanos.uchile.cl/handle/2250/8682431
dc.description.abstractThis paper presents the development of a nonlinear controller for the reaction wheel pendulum (RWP) via an interconnection and damping assignment passivity-based control (IDA-PBC) approach. The IDA-PBC approach works with the port-Hamiltonian open-loop dynamics of the RWP to propose a nonlinear controller that preserves the Hamiltonian structure in closed-loop by guaranteeing stability properties in the sense of Lyapunov. Numerical results confirm the theoretical development presented throughout simulations in Simulink package from MATLAB. Comparison with a Lyapunov-based approach is also provided
dc.languageeng
dc.publisherCartagena de Indias
dc.rightshttp://creativecommons.org/licenses/by-nc-nd/4.0/
dc.rightsinfo:eu-repo/semantics/openAccess
dc.rightsAttribution-NonCommercial-NoDerivatives 4.0 Internacional
dc.source2019 IEEE International Autumn Meeting on Power, Electronics and Computing, ROPEC 2019
dc.titlePassivity-based control applied of a reaction wheel pendulum: An IDA-PBC approach


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