Desired Compensation Adaptive Robust Control of Electrical-optical Gyro-stabilized Platform with Continuous Friction Compensation Using Modified LuGre Model

2018 ◽  
Vol 16 (5) ◽  
pp. 2264-2272 ◽  
Author(s):  
Yuefei Wu ◽  
Dong Yue
Keyword(s):  
Robust Control ◽  
Adaptive Robust Control ◽  
Friction Compensation ◽  
Lugre Model ◽  
Stabilized Platform

Adaptive Robust Control for Mirror-Stabilized Platform With Input Saturation

2018 ◽  
Vol 140 (9) ◽  
Author(s):  
Jiangpeng Song ◽  
Di Zhou ◽  
Guangli Sun
Keyword(s):  
Control System ◽  
Robust Control ◽  
Input Saturation ◽  
Adaptive Robust Control ◽  
Kinematics And Dynamics ◽  
Tracking Accuracy ◽  
External Disturbances ◽  
Unknown Disturbances ◽  
The Stability ◽  
Stabilized Platform

The line-of-sight (LOS) kinematics and dynamics of a mirror-stabilized platform are derived using the virtual mass stabilization method. Accounting for the coupled and nonlinear kinematics and dynamics, the uncertainty of external disturbances, and the actuator input saturation in the mirror-stabilized platform, a modified adaptive robust control (ARC) scheme is proposed based on the command filtered method and the extended state observer (ESO). The command-filtered approach is used to ensure the stability and tracking performance of the adaptive control system under the input saturation. In the proposed scheme, the ESO is designed to observe the modeling error and unknown external disturbances. The stability of the control system is proved using the Lyapunov method. Simulation results and experimental results proved that the proposed control scheme can effectively reduce the occurrence of input saturation, attenuate the effect of unknown disturbances, and improve the position tracking accuracy.

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