Controle escalonado dependente de parâmetros variantes no tempo aplicado à planta multivariável giroscópio de momento

Abstract

This undergraduate thesis presents stability analysis of nonlinear systems through Lyapunov theory, which evaluated a linear system dependent on time- varying parameters related to the original system. The synthesis of a scaled controller applied to a moment gyroscope plant is also presented. This equipment is of great importance because, through it, it is possible to perform attitude control of satellites and space vehicles, among other applications. The designed control uses LQR (Linear Quadratic Regulator) technique in conjunction with the non- linear gain scheduling control technique, and its performance is analyzed for the ECP model 750 with 4 degrees of freedom (DOF) plant in a system emulation. The work aims to track a 45° reference for two gimbals of the plant, evaluating the attitude control through projected gain scheduling using the linearized representation at different points in the state space. The grid of points used has a distance of 5° between each point. A test using steps as references is performed, resulting in a satisfactory performance, although the stability has not been proven using the proposed analysis technique.