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arXiv · 2012.05468

Structure Preserving Reduced Attitude Control of Gyroscopes

Nidhish Raj·Leonardo J. Colombo·Ashutosh Simha
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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.

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Nidhish Raj, Leonardo J. Colombo, Ashutosh Simha. 2020-12-10. Structure Preserving Reduced Attitude Control of Gyroscopes. https://arxiv.org/abs/2012.05468

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