Dynamics Modelling and Parameter Identification of a Reaction Wheel Based Pendulum

Cheng Yi Su, Chao Chung Peng, Ankit A. Ravankar, Abhijeet Ravankar

研究成果: Conference contribution

摘要

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.

原文English
主出版物標題Proceedings - 4th IEEE International Conference on Robotic Computing, IRC 2020
發行者Institute of Electrical and Electronics Engineers Inc.
頁面271-274
頁數4
ISBN(電子)9781728152370
DOIs
出版狀態Published - 2020 11月
事件4th IEEE International Conference on Robotic Computing, IRC 2020 - Virtual, Taichung, Taiwan
持續時間: 2020 11月 92020 11月 11

出版系列

名字Proceedings - 4th IEEE International Conference on Robotic Computing, IRC 2020

Conference

Conference4th IEEE International Conference on Robotic Computing, IRC 2020
國家/地區Taiwan
城市Virtual, Taichung
期間20-11-0920-11-11

All Science Journal Classification (ASJC) codes

  • 電腦科學應用
  • 人工智慧
  • 汽車工程
  • 控制和優化
  • 手術

指紋

深入研究「Dynamics Modelling and Parameter Identification of a Reaction Wheel Based Pendulum」主題。共同形成了獨特的指紋。

引用此