Preprint Article Version 1 Preserved in Portico This version is not peer-reviewed

Position Control of a Three Degree of Freedom Gyroscope using Optimal Control

Version 1 : Received: 3 August 2020 / Approved: 4 August 2020 / Online: 4 August 2020 (15:54:43 CEST)

How to cite: Jibril, M.; Tadese, M.; Hassen, N. Position Control of a Three Degree of Freedom Gyroscope using Optimal Control. Preprints 2020, 2020080097 (doi: 10.20944/preprints202008.0097.v1). Jibril, M.; Tadese, M.; Hassen, N. Position Control of a Three Degree of Freedom Gyroscope using Optimal Control. Preprints 2020, 2020080097 (doi: 10.20944/preprints202008.0097.v1).

Abstract

In this paper, a 3 DOF gyrscope position control have been designed and controlled using optimal control theory. An input torque has been given to the first axis and the angular position of the second axis have been analyzed while the third axis are kept free from rotation. The system mathematical model is controllable and observable. Linear Quadratic Integral (LQI) and Linear Quadratic State Feedback Regulator (LQRY) controllers have been used to improve the performance of the system. Comparison of the system with the proposed controllers for tracking a desired step and random angular position have been done using Matlab/Simulink Toolbox and a promising results has been analyzed.

Subject Areas

Gyrscope; Linear Quadratic Integral; Linear Quadratic State Feedback Regulator

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