The reaction wheel pendulum
著者
書誌事項
The reaction wheel pendulum
（Synthesis lectures on control and mechatronics, 1）
Morgan & Claypool Publishers, c2007
- : pbk
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注記
Series editor: Mark W. Spong
内容説明・目次
内容説明
This monograph describes the Reaction Wheel Pendulum, the newest inverted-pendulum-like device for control education and research. We discuss the history and background of the reaction wheel pendulum and other similar experimental devices. We develop mathematical models of the reaction wheel pendulum in depth, including linear and nonlinear models, and models of the sensors and actuators that are used for feedback control. We treat various aspects of the control problem, from linear control of themotor, to stabilization of the pendulum about an equilibrium configuration using linear control, to the nonlinear control problem of swingup control. We also discuss hybrid and switching control, which is useful for switching between the swingup and balance controllers. We also discuss important practical issues such as friction modeling and friction compensation, quantization of sensor signals, and saturation. This monograph can be used as a supplement for courses in feedback control at the undergraduate level, courses in mechatronics, or courses in linear and nonlinear state space control at the graduate level. It can also be used as a laboratory manual and as a reference for research in nonlinear control.
目次
Introduction
Modeling
Controlling the Reaction Wheel
Stabilizing the Inverted Pendulum
Swinging Up the Pendulum
Switching Control
Additional Topics
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