no code implementations • 11 Apr 2021 • Ruigang Wang, Patrick J. W. Koelwijn, Ian R. Manchester, Roland Tóth
In this paper, we present a virtual control contraction metric (VCCM) based nonlinear parameter-varying (NPV) approach to design a state-feedback controller for a control moment gyroscope (CMG) to track a user-defined trajectory set.
no code implementations • 18 Mar 2020 • Ruigang Wang, Roland Tóth, Patrick J. W. Koelwijn, Ian R. Manchester
This paper presents a systematic approach to nonlinear state-feedback control design that has three main advantages: (i) it ensures exponential stability and $ \mathcal{L}_2 $-gain performance with respect to a user-defined set of reference trajectories, and (ii) it provides constructive conditions based on convex optimization and a path-integral-based control realization, and (iii) it is less restrictive than previous similar approaches.
