Gain-scheduled Linear Parameter-varying (LPV) controller design for a Control Moment Gyroscope (CMG)

The aim of this project is to design and implement LPV control strategies for a four-degrees-of-freedom CMG. The MIMO plant is highly coupled and nonliner. First, a linearized model with moving operating point is obtained that is used to construct an LPV model. Then, a gridding-based LPV state-feedback control strategy is proposed that guarantees stability and high performance over a much wider range than can be achieved with linear time-invariant (LTI) controllers. The strategy allows a simple implementation in real-time and may be of interest for applications such as attitude control of a satellite.

The functions h() in LPV state matrices are given in MATLAB m.file and variable form: functions

The video recording of a tracking experiment using an LPV gain-scheduled controller is available: Gyroscope.