Adaptive dynamic surface control of a two-axis gimbal system

被引：11

作者：

Khayatian, Mohammad ^{[1
]}

Arefi, Mohammad Mehdi ^{[1
]}

机构：

[1] Shiraz Univ, Sch Elect & Comp Engn, Dept Power & Control Engn, Shiraz 7134851154, Iran

来源：

IET SCIENCE MEASUREMENT & TECHNOLOGY | 2016年 / 10卷 / 06期

关键词：

adaptive control; actuators; antennas; control nonlinearities; control system synthesis; Lyapunov methods; stability; two-axis gimbal system; actuator dynamics; parametric uncertainty; pointing antenna; adaptive dynamic surface control technique; explosion of complexity problem; adaptive backstepping control design; Lyapunov stability analysis; tracking error convergence; closed-loop signal; ADAMS; OUTPUT-FEEDBACK CONTROL; NONLINEAR-SYSTEMS; NEURAL-NETWORKS; TRAJECTORY TRACKING; ROBOT MANIPULATORS; MOTION CONTROL; FORM;

D O I：

10.1049/iet-smt.2016.0005

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

In this study, adaptive control of a two-axis gimbal system with actuator dynamics in the presence of parametric uncertainties is addressed. The considered gimbal system is a pointing antenna which can rotate over y and z axes and covers all line of sights. Adaptive dynamic surface control technique is used to overcome the explosion of complexity' problem which appears in adaptive backstepping control design. By using the Lyapunov stability analysis, the convergence of the tracking error to origin and boundedness of all closed-loop signals are guaranteed. Finally, excellent performance of the proposed method for tracking the desired trajectories and also the effectiveness of this technique for controlling a two-axis pointing antenna are shown for a real antenna model in ADAMS.

引用

页码：607 / 613

页数：7

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