0
Research Papers

Adaptive Robust Control for Mirror-Stabilized Platform With Input Saturation

[+] Author and Article Information
Jiangpeng Song

School of Astronautics,
Harbin Institute of Technology,
Harbin 150001, China;
Tianjin Jinhang Technical Physics Institute,
Tianjin 300192, China
e-mail: jjh_sjp@163.com

Di Zhou

School of Astronautics,
Harbin Institute of Technology,
Harbin 150001, China
e-mail: zhoud@hit.edu.cn

Guangli Sun

Tianjin Jinhang Technical Physics Institute,
Tianjin 300192, China
e-mail: tj_sgl@163.com

1Corresponding author.

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT,AND CONTROL. Manuscript received April 23, 2017; final manuscript received March 4, 2018; published online April 30, 2018. Assoc. Editor: Soo Jeon.

J. Dyn. Sys., Meas., Control 140(9), 091014 (Apr 30, 2018) (12 pages) Paper No: DS-17-1213; doi: 10.1115/1.4039670 History: Received April 23, 2017; Revised March 04, 2018

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.

Copyright © 2018 by ASME
Your Session has timed out. Please sign back in to continue.

References

Hilkert, J. M. , 2008, “Inertially Stabilized Platform Technology,” IEEE Control Syst. Mag., 28(1), pp. 26–46. [CrossRef]
Michael, K. M. , 2008, “Inertially Stabilized Platforms for Optical Imaging Systems,” IEEE Control Syst. Mag., 28(1), pp. 47–64. [CrossRef]
Francisco, R. , Manuel, G. , Francisco, G. , and Manuel, V. , 2010, “Application of Position and Inertial-Rate Control to a 2-DOF Gyroscopic Platform,” Rob. Comput.-Integr. Manuf., 26(4), pp. 344–353. [CrossRef]
Hilkert, J. M. , and David, A. , 1990, “Adaptive Control System Techniques Applied to Inertial Stabilization Systems,” Proc. SPIE, 1304, pp. 190–206.
Moorty, J. , Marathe, R. , and Sule, V. R. , 2002, “H Control Law for Line-of-Sight Stabilization Far Mobile Land Vehicles,” Opt. Eng., 41(11), pp. 2935–2944. [CrossRef]
Yao, B. , and Jiang, C. , 2010, “Advanced Motion Control: From Classical PID to Nonlinear Adaptive Robust Control,” 11th International Workshop on Advanced Motion Control (AMC), Nagaoka, Japan, Mar. 21–24, pp. 815–829
Gayaka, S. , and Yao, B. , 2011, “Accommodation of Unknown Actuator Faults Using Output Feedback Based Adaptive Robust Control,” Int. J. Adapt. Control Signal Process, 25(11), pp. 965–982. [CrossRef]
Chen, Z. , Yao, B. , and Wang, Q. , 2015, “μ-Synthesis-Based Adaptive Robust Control of Linear Motor Driven Stages With High-Frequency Dynamics: A Case Study With Comparative Experiments,” IEEE/ASME Trans. Mechatronics, 20(3), pp. 1482–1490. [CrossRef]
Mohanty, A. , and Yao, B. , 2011, “Indirect Adaptive Robust Control of Hydraulic Manipulators With Accurate Parameter Estimates,” IEEE Trans. Control Syst. Technol., 19(3), pp. 567–575. [CrossRef]
Chen, Z. , Yao, B. , and Wang, Q. , 2013, “Accurate Motion Control of Linear Motors With Adaptive Robust Compensation of Nonlinear Electromagnetic Field Effect,” IEEE/ASME Trans. Mechatronics, 18(3), pp. 1122–1129. [CrossRef]
Lu, L. , Yao, B. , Wang, Q. , and Chen, Z., 2008, “Adaptive Robust Control of Linear Motor Systems With Dynamic Friction Compensation Using Modified LuGre Model,” IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Xian, China, July 2–5, pp. 961–966.
Yao, B. , Hu, C. , Lu, L. , and Wang, Q., 2011, “Adaptive Robust Precision Motion Control of a High-Speed Industrial Gantry With Cogging Force Compensations,” IEEE Trans. Control Syst. Technol., 19(5), pp. 1149–1159. [CrossRef]
Han, J. , 2009, “From PID to Active Disturbance Rejection Control,” IEEE Trans. Ind. Electron, 56(3), pp. 900–906. [CrossRef]
Zheng, Q. , Dong, L. , Lee, D. H. , and Gao, Z. , 2009, “Active Disturbance Rejection Control and Implementation for MEMS Gyroscopes,” IEEE Trans. Control Syst Technol., 17(6), pp. 1432–1438. [CrossRef]
Zheng, Q. , Gao, L. Q. , and Gao, Z. , 2012, “On Validation of Extended State Observer Through Analysis and Experimentation,” ASME J. Dyn. Syst. Meas. Control, 134(2), p. 024505. [CrossRef]
Guo, B. Z. , and Zhao, Z. L. , 2011, “On the Convergence of an Extended State Observer for Nonlinear System With Uncertainty,” Syst. Control Lett., 60(6), pp. 420–430. [CrossRef]
Gao, Z. , 2003, “Scaling and Bandwidth-Parameterization Based Controller Tuning,” American Control Conference (ACC), Denver, CO, June 4–6, pp. 4989–4996.
Qin, W. , Liu, Z. , and Chen, Z. , 2014, “Formation Control for Nonlinear Multi-Agent Systems With Linear Extended State Observer,” IEEE/CAA J. Autom. Sin., 1(2), pp. 171–179 . [CrossRef]
Xing, H. , Zhong, X. , and Li, J. , 2015, “Linear Extended State Observer Based Back-Stepping Control for Uncertain SISO Nonlinear Systems,” Int. J. Innovative Comput. Inf. Control, 11(4), pp. 1411–1419.
Yang, M. , Chen, D., Song-Yan, W., and Tao, C., 2015, “Linear Extended State Observer Based on Finite-Time Output Feedback,” Acta Automatica Sin., 41(1), pp. 59–66.
Yao, J. , and Deng, W. , 2017, “Active Disturbance Rejection Adaptive Control of Hydraulic Servo Systems,” IEEE Trans. Ind. Electron., 64(10), pp. 8023–8032. [CrossRef]
Yao, J. , and Deng, W. , 2017, “Active Disturbance Rejection Adaptive Control of Uncertain Nonlinear Systems: Theory and Application,” Nonlinear Dyn., 89(3), pp. 1611–1624.
Hong, Y. , and Yao, B. , 2007, “A Globally Stable High-Performance Adaptive Robust Control Algorithm With Input Saturation for Precision Motion Control of Linear Motor Drive Systems,” IEEE/ASME Trans. Mechatronics, 12(2), pp. 198–207. [CrossRef]
Hong, Y. , and Yao, B. , 2007, “A Globally Stable Saturated Desired Compensation Adaptive Robust Control for Linear Motor Systems With Comparative Experiments,” Automatica, 43(10), pp. 1840–1848. [CrossRef]
Li, Z. , Chen, J. , Zhang, G. , and Gan, M. G., 2011, “Adaptive Robust Control for DC Motors With Input Saturation,” Control Theory Appl., 5(16), pp. 1895–1905. [CrossRef]
Farrell, J. , Polycarpou, M. , and Sharma, M. , 2004, “On-Line Approximation Based Control of Uncertain Nonlinear Systems,” American Control Conference (ACC), Boston, MA, June 30–July 2, pp. 2557–2562.
Farrell, J. , Sharma, M. , and Polycarpou, M. , 2005, “Backstepping-Based Flight Control With Adaptive Function Approximation,” J. Guid., Control, Dyn., 28(6), pp. 1089–1101. [CrossRef]
Sonneveldt, L. , Chu, Q. P. , and Mulder, J. A. , 2007, “Nonlinear Flight Control Design Using Constrained Adaptive Backstepping,” J. Guid., Control Dyn., 30(2), pp. 322–336. [CrossRef]
Hilkert, J. M. , 2009, “Development of Mirror Stabilization Line-of-Sight Rate Equations for an Un-Conventional Sensor-to-Gimbal Orientation,” Proc. SPIE, 7338, pp. 1–12.
James, M. , and Royalty, B. , 2009, “Line-of-Sight Kinematics for a Two-Axis Head Mirror: Equations for Predicting and Controlling Mirrored LOS Pointing,” Proc. SPIE, 7338, pp. 1–11.
Ekstrand, B. , 2001, “Equations of Motion for a Two-Axes Gimbal System,” IEEE Trans. Aerosp. Electron. Syst., 37(3), pp. 1084–1091.
Kori, D. K. , Kolhe, J. P. , and Talole, S. E. , 2014, “Extended State Observer Based Robust Control of Wing Rock Motion,” Aerosp. Sci. Technol., 33(1), pp. 107–117. [CrossRef]
Yao, J. , Jiao, Z. , and Ma, D. , 2014, “Adaptive Robust Control of DC Motors With Extended State Observer,” IEEE Trans. Ind. Electron., 61(7), pp. 3630–3637. [CrossRef]

Figures

Grahic Jump Location
Fig. 3

Graphical depiction of Snell's law of reflection

Grahic Jump Location
Fig. 2

Relationships between coordinates

Grahic Jump Location
Fig. 1

Schematic diagram of a bias shafting mirror's LOS kinematics

Grahic Jump Location
Fig. 6

Performance of the ESO: (a) estimate of the external disturbance torque and (b) estimate of the LOS rate

Grahic Jump Location
Fig. 7

Step response of the system

Grahic Jump Location
Fig. 8

Control torques under the step response

Grahic Jump Location
Fig. 10

Structure of the mirror stabilization platform

Grahic Jump Location
Fig. 11

Position tracking error with the ECARC and the ARC in experiment

Grahic Jump Location
Fig. 12

Performance of the ESO in the experiment: (a) estimate of the external disturbance torque in the experiment and (b) estimate of the external disturbance torque in the experiment

Grahic Jump Location
Fig. 15

Estimation of the system parameters

Grahic Jump Location
Fig. 5

Position tracking errors under ECARC and ARC

Grahic Jump Location
Fig. 9

Estimation of the system parameters

Grahic Jump Location
Fig. 13

Step response of the system

Grahic Jump Location
Fig. 14

Control torques under the step response

Tables

Errata

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