Structure preserving reduced attitude control of gyroscopes

DOI10.1016/J.AUTOMATICA.2020.109471MaRDI QIDQ2663972zbMATH OpenOpenAlexFDO

Authors Nidhish Raj, Leonardo Colombo, Ashutosh Simha

Publication date 20 April 2021

Published in Automatica (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/2012.05468

Mathematics Subject Classification ID

Geometric methods (93B27) Automated systems (robots, etc.) in control theory (93C85) Asymptotic stability in control theory (93D20)

Abstract: We design a reduced attitude controller for reorienting the spin axis of a gyroscope in a geometric control framework. The proposed controller preserves the inherent gyroscopic stability associated with a spinning axis-symmetric rigid body. The equations of motion are derived in two frames: a non-spinning frame to show the gyroscopic stability, and a body-fixed spinning frame for deriving the controller. The proposed controller is designed such that it retains the gyroscopic stability structure in the closed loop and renders the desired equilibrium almost-globally asymptotically stable. Due to the time-critical nature of the control input, in particular its sensitivity with respect to delays/neglected dynamics, the controller is extended to incorporate the effect of actuator dynamics for practical implementation. Thereafter, a comparison in performance is shown between the proposed controller and a conventional reduced attitude geometric controller with numerical simulation. The controller is validated experimentally on a spinning tricopter.

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Cites work

• A simple stability criterion for spinning satellites with flexible appendages
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• Classical mechanics. Applied mechanics and mechatronics.
• Multilevel stabilization of large-scale systems: A spinning flexible spacecraft
• Nonlinear Complementary Filters on the Special Orthogonal Group
• Rigid-Body Attitude Control

Cited in

(1)

• Finite-time flocking behavior of the Cucker-Smale model on the infinite cylinder

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