Attitude control of a gyroscope actuator using event-based discrete-time approach

B. Boisseau, S. Durand, J.J. Martinez-Molina, T. Raharijaona, N. Marchand
2015 2015 International Conference on Event-based Control, Communication, and Signal Processing (EBCCSP)  
In this paper, a discrete state feedback Linear Quadratic Regulator (LQR) for event-triggered control is presented. To ensure zero steady state error in the case of such controllers, one normally extends the states with an integral action. Instead of using integral action, the idea is to estimate the disturbance causing the steady state error and use this to extend the states. A Lyapunov-based event triggering function is proposed. Practical results using a gyroscope actuator are presented and
more » ... ompared to a classical time-triggered controller. The obtained results demonstrate the simplicity and efficiency of the proposed approach.
doi:10.1109/ebccsp.2015.7300677 dblp:conf/ebccsp/BoisseauDMRM15 fatcat:g7ogzsxppbgbdkwdjzqtryonju