Passivity-Based Control Applied of a Reaction Wheel Pendulum: an IDA-PBC Approach

EasyChair Preprint no. 2091

Abstract

This 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.

Keyphrases: Energy functions, Lyapunov's stability analysis, passivity-based control, reaction wheel pendulum

@Booklet{EasyChair:2091,
  author = {Oscar Danilo Montoya and Víctor Manuel Garrido and Walter Gil-González and Cesar Orozco-Henao},
  title = {Passivity-Based Control Applied of a Reaction Wheel Pendulum: an IDA-PBC Approach},
  howpublished = {EasyChair Preprint no. 2091},

  year = {EasyChair, 2019}}