Publicação: GEOMETRIC MODELING AND ROBUST CONTROL OF A GYROSCOPIC SYSTEM
dc.contributor.author | Colon, Diego | |
dc.contributor.author | Angelico, Bruno A. | |
dc.contributor.author | Toriumi, Fabio Y. | |
dc.contributor.author | Liduario, Paulo U. M. | |
dc.contributor.author | Balthazar, Jose M. [UNESP] | |
dc.contributor.author | ASME | |
dc.contributor.institution | Universidade de São Paulo (USP) | |
dc.contributor.institution | Universidade Estadual Paulista (Unesp) | |
dc.date.accessioned | 2018-11-26T16:48:31Z | |
dc.date.available | 2018-11-26T16:48:31Z | |
dc.date.issued | 2016-01-01 | |
dc.description.abstract | Gyroscopic systems are multi-body systems which present coupled three dimensional motion. The configuration space and the state space are differentiable manifolds, and differential geometric concepts are frequently useful in the process of modeling. This paper deals with a Control Moment Gyroscope (CMG), which is not asymptotically stable, so it needs a stabilizing control law. We apply a new methodology of modeling kinematics and dynamics of rigid multi-body systems, based in the concept of Cartan's connection and covariant derivative. The systems has two inputs (torques) and two outputs (angles) that will be controlled by a robust linear closed-loop control technique (LQG/LTR). Experimental results are presented in order to validate the proposal. | en |
dc.description.affiliation | Univ Sao Paulo, Dept Telecomm & Control, LAC, Sao Paulo, Brazil | |
dc.description.affiliation | Sao Paulo State Univ, Dept Mech Engn, Bauru Campus, Bauru, Brazil | |
dc.description.affiliationUnesp | Sao Paulo State Univ, Dept Mech Engn, Bauru Campus, Bauru, Brazil | |
dc.format.extent | 10 | |
dc.identifier.citation | International Design Engineering Technical Conferences And Computers And Information In Engineering Conference, 2015, Vol 8. New York: Amer Soc Mechanical Engineers, 10 p., 2016. | |
dc.identifier.uri | http://hdl.handle.net/11449/161761 | |
dc.identifier.wos | WOS:000380414000065 | |
dc.language.iso | eng | |
dc.publisher | Amer Soc Mechanical Engineers | |
dc.relation.ispartof | International Design Engineering Technical Conferences And Computers And Information In Engineering Conference, 2015, Vol 8 | |
dc.rights.accessRights | Acesso aberto | |
dc.source | Web of Science | |
dc.title | GEOMETRIC MODELING AND ROBUST CONTROL OF A GYROSCOPIC SYSTEM | en |
dc.type | Trabalho apresentado em evento | |
dcterms.rightsHolder | Amer Soc Mechanical Engineers | |
dspace.entity.type | Publication | |
unesp.author.orcid | 0000-0003-3709-6790[1] | |
unesp.department | Engenharia Mecânica - FEB | pt |