Adaptive Nonlinear Synchronization Control of Twin-Gyro Precession

[+] Author and Article Information
Di Zhou

 Harbin Institute of Technology, Mailbox 327, Harbin 150001, Chinazhoud@hit.edu.cn

Tielong Shen, Katsutoshi Tamura

 Sophia University, Tokyo 102-8554, Japan

J. Dyn. Sys., Meas., Control 128(3), 592-599 (Sep 12, 2005) (8 pages) doi:10.1115/1.2232683 History: Received July 19, 2004; Revised September 12, 2005

The slewing motion of a truss arm driven by a V-gimbaled control-moment gyro is studied. The V-gimbaled control-moment gyro consists of a pair of gyros that must precess synchronously. For open-loop slewing motion control, the controller design problem is simplified into finding a feedback controller to steer the two gyros to synchronously track a specific command. To improve the synchronization performance, the integral of synchronization error is introduced into the design as an additional state variable. Based on the second method of Lyapunov, an adaptive nonlinear feedback controller is designed. For more accurate but complicated closed-loop slewing motion control, the feedback linearization technique is utilized to partially linearize the nonlinear nominal model, where two specific output functions are chosen to satisfy the system tracking and synchronization requirements. The system tracking dynamics are bounded by properly determining system indices and command signals. For the partially linearized system, the backstepping tuning function design approach is employed to design an adaptive nonlinear controller. The dynamic order of the adaptive controller is reduced to its minimum. The performance of the proposed controllers is verified by simulation.

Copyright © 2006 by American Society of Mechanical Engineers
Your Session has timed out. Please sign back in to continue.



Grahic Jump Location
Figure 1

Slewing truss arm with twin-gyro CMGs

Grahic Jump Location
Figure 2

Configuration of twin-gyro CMGs

Grahic Jump Location
Figure 3

Open-loop rest-to-rest slewing and twin-gyro precession

Grahic Jump Location
Figure 4

Open-loop sinusoidal slewing and twin-gyro precession

Grahic Jump Location
Figure 5

Closed-loop rest-to-rest slewing and twin-gyro precession

Grahic Jump Location
Figure 6

Closed-loop sinusoidal slewing and twin-gyro precession




Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In