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

Bruno Boisseau (1) , Sylvain Durand (2) , John Jairo Martinez Molina (3) , Thibaut Raharijaona (2) , Nicolas Marchand (1)

1 GIPSA-SYSCO - GIPSA - Systèmes non linéaires et complexité
2 BIOROB - Biorobotique
3 GIPSA-SLR - GIPSA - Systèmes linéaires et robustesse

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 compared to a classical time-triggered controller. The obtained results demonstrate the simplicity and efficiency of the proposed approach.

Mots clés: event-based control; discrete-time; Event-triggered control

Domaines: Automatique / Robotique

Bruno Boisseau, Sylvain Durand, John Jairo Martinez Molina, Thibaut Raharijaona, Nicolas Marchand. Attitude control of a gyroscope actuator using event-based discrete-time approach. EBCCSP 2015 - 1st IEEE Conference on Event-Based Control Communication and Signal Processing, Jun 2015, Krakow, Poland. ⟨10.1109/EBCCSP.2015.7300677⟩. ⟨hal-01166201⟩