Abstract
This article proposes a passivity-based nonlinear control approach to deal with the tracking task of a control moment gyroscope (CMG), which is an underactuated nonlinear MIMO system with coupled dynamics, where the main goal is the tracking of the unactuated states in a wide range of operation. To overcome this underactuation, the proposed nonlinear controller employs the CMG intrinsic reaction torques. The closed-loop system stability is analyzed by invoking the Lyapunov stability and Matrosov's theorem. Numerical simulations and real-time practical experiments with the real plant are performed to validate the proposed nonlinear controller, as well as its performance is analyzed by contrasting the experiment results with the ones obtained by authors’ previous established nonlinear controllers.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
