Loop-Shaping ℋ Control of an Aeropendulum Model
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Instituto Federal do Paraná, Av. Dr Tito, 801, Jacarezinho – PR, Universidade Tecnológica Federal do Paraná, Programa de Pós-Graduação em Engenharia Mecânica, Av. Alberto Carazzai, 1640, Cornélio Procópio – PR, Brazil
Instituto Federal do Paraná, Av. Dr Tito, 801, Jacarezinho – PR, Brazil
Universidade Tecnológica Federal do Paraná, Av. Alberto Carazzai, 1640 Cornélio Procópio – PR, Brazil
Online publication date: 2021-12-07
Publication date: 2021-12-01
International Journal of Applied Mechanics and Engineering 2021;26(4):1-16
This work presents a mathematical model of an aeropendulum system with two sets of motors with propellers and the design and simulation of a loop-shaping ℋ control for this system. In this plant, the objective is to control the angular position of the pendulum rod through the torque generated by the thrust of the motorized propellers at the end of the rod’s axis. The control design is obtained by first using feedback linearization and then designing the ℋ controller using the resulting linear system. For the control strategy validation, simulations were conducted in the Matlab/Simulink® environment, and the weighting functions for the ℋ controller were adjusted to obtain the desired performance and stability of the closed-loop system. The simulation results show the efficiency of the applied methodology.
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