TY - GEN
T1 - Dynamics Modelling and Parameter Identification of a Reaction Wheel Based Pendulum
AU - Su, Cheng Yi
AU - Peng, Chao Chung
AU - Ravankar, Ankit A.
AU - Ravankar, Abhijeet
N1 - Publisher Copyright:
© 2020 IEEE.
PY - 2020/11
Y1 - 2020/11
N2 - In control system research, the pendulum system is one of the important nonlinear systems, and it has been widely used in many control applications. Different from the conventional pendulum system, this paper presents a reaction wheel based pendulum control system. From the application point of view, the design task is to stabilize the pendulum system through the reaction force generated from the flywheel. To this aim, dynamics modelling of the reaction wheel based pendulum must be considered first. Second, the system parameter identification scheme is required for future controller designs. Therefore, in this paper, dynamics modelling of the reaction wheel based pendulum is derived in term of Lagrange equation. For the associated nonlinear model, a discrete model approximation is proposed for the identification of system parameters. Finally, simulations are carried out to demonstrate the feasibility and effectiveness of the proposed method.
AB - In control system research, the pendulum system is one of the important nonlinear systems, and it has been widely used in many control applications. Different from the conventional pendulum system, this paper presents a reaction wheel based pendulum control system. From the application point of view, the design task is to stabilize the pendulum system through the reaction force generated from the flywheel. To this aim, dynamics modelling of the reaction wheel based pendulum must be considered first. Second, the system parameter identification scheme is required for future controller designs. Therefore, in this paper, dynamics modelling of the reaction wheel based pendulum is derived in term of Lagrange equation. For the associated nonlinear model, a discrete model approximation is proposed for the identification of system parameters. Finally, simulations are carried out to demonstrate the feasibility and effectiveness of the proposed method.
UR - http://www.scopus.com/inward/record.url?scp=85099343158&partnerID=8YFLogxK
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U2 - 10.1109/IRC.2020.00049
DO - 10.1109/IRC.2020.00049
M3 - Conference contribution
AN - SCOPUS:85099343158
T3 - Proceedings - 4th IEEE International Conference on Robotic Computing, IRC 2020
SP - 271
EP - 274
BT - Proceedings - 4th IEEE International Conference on Robotic Computing, IRC 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 4th IEEE International Conference on Robotic Computing, IRC 2020
Y2 - 9 November 2020 through 11 November 2020
ER -