2020/12/10 by Raj, Nidhish, Colombo, Leonardo J., Simha, Ashutosh · 1 citation
#FOS: Electrical engineering #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · doi:10.48550/arxiv.2012.05468
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.