Implementação e comparação de técnicas de controle robusto de um sistema giroscópio

Abstract

The Gyroscope systems provide great variability of applications and possibilities to fulfill various tasks, such as: heading indicator, replacing the magnetic compass - gyroscopic needle; aircraft pilots, etc. They are devices used as Moment Control actuators. However, controller designs for non-linear gyro systems are not a trivial task, assuming that it is of high relevance in solving complex problems. This work aims to implement the state feedback control technique for a non-linear dynamical gyroscope system, MIMO (Multiple-Input Multiplie-Output), which has 4 degrees of freedom, as well as design and simulate a robust controller using LMIs. The simulation was performed using the Simulink tool, MATLAB software (MATrix LABoratory). Robust control methods were used in order to guarantee the robustness of the system, comparing it with the results of other related works. As a result, this method has brought significant robustness to the system compared to other control methods.