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• W3106587387 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." @default.
• W3106587387 created "2020-12-07" @default.
• W3106587387 creator A5044728303 @default.
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• W3106587387 date "2021-10-01" @default.
• W3106587387 modified "2023-09-27" @default.
• W3106587387 title "Passivity-Based Nonlinear Control Approach for Tracking Task of an Underactuated CMG" @default.
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• W3106587387 doi "https://doi.org/10.1109/tmech.2020.3036765" @default.
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