Structure Preserving Reduced Attitude Control of Gyroscopes
Abstract
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.
Keywords
Cite
@article{arxiv.2012.05468,
title = {Structure Preserving Reduced Attitude Control of Gyroscopes},
author = {Nidhish Raj and Leonardo J. Colombo and Ashutosh Simha},
journal= {arXiv preprint arXiv:2012.05468},
year = {2020}
}