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Robust ℋ 2 controller with parametric uncertainties applied to a reaction wheel unicycle

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ABSTRACT A robust controller is designed using an LMI-based technique. In this approach, the controller synthesis is similar to an LQR, but with the possibility of considering parametric uncertainties. The… Click to show full abstract

ABSTRACT A robust controller is designed using an LMI-based technique. In this approach, the controller synthesis is similar to an LQR, but with the possibility of considering parametric uncertainties. The designed controller is applied to a reaction wheel unicycle robot, which is an unstable and sensitive system in terms of parametric errors. An implementation aspect regarding the dynamic torque limitation of the reaction wheel actuator is emphasised. Since the equivalent linear model is decoupled, a decentralised controller structure is fixed during the synthesis. Simulation and practical results are shown. A detailed description of the robot construction is also presented.

Keywords: reaction wheel; robust controller; controller; parametric uncertainties

Journal Title: International Journal of Control
Year Published: 2020

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