An integral sliding mode controller based disturbances rejection compound scheme for inertially stabilized platform in aerial remote sensing

Zhou, Xiangyang; Yuan, Jia; Li, Yong

doi:10.1177/0954410017703142

Cited by 5 publications

(2 citation statements)

References 23 publications

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“…In order to further reduce the chattering phenomenon caused by the switching action of

, the saturation function

is used to replace the sign function

in the control law Equation ( 37 ) [ 32 ], and the

is expressed as

where

is the selected boundary layer.…”

Section: The Control System Of the Optronic Mastmentioning

confidence: 99%

Research on the Line of Sight Stabilization Control Technology of Optronic Mast under High Oceanic Condition and Big Swaying Movement of Platform

Lan

Jiang

Hua

2023

Sensors

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To realize high-performance line of sight (LOS) stabilization control of the optronic mast under high oceanic conditions and big swaying movements of platforms, a composite control method based on an adaptive radial basis function neural network (RBFNN) and sliding mode control (SMC) is proposed. The adaptive RBFNN is used to approximate the nonlinear and parameter-varying ideal model of the optronic mast, so as to compensate for the uncertainties of the system and reduce the big-amplitude chattering phenomenon caused by excessive switching gain in SMC. The adaptive RBFNN is constructed and optimized online based on the state error information in the working process; therefore, no prior training data are required. At the same time, a saturation function is used to replace the sign function for the time-varying hydrodynamic disturbance torque and the friction disturbance torque, which further reduce the chattering phenomenon of the system. The asymptotic stability of the proposed control method has been proven by the Lyapunov stability theory. The applicability of the proposed control method is validated by a series of simulations and experiments.

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“…In order to further reduce the chattering phenomenon caused by the switching action of

, the saturation function

is used to replace the sign function

in the control law Equation ( 37 ) [ 32 ], and the

is expressed as

where

is the selected boundary layer.…”

Section: The Control System Of the Optronic Mastmentioning

confidence: 99%

Research on the Line of Sight Stabilization Control Technology of Optronic Mast under High Oceanic Condition and Big Swaying Movement of Platform

Lan

Jiang

Hua

2023

Sensors

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show abstract

“…The stabilized platform detects the posture change of the equipment through the sensitive element, compensates the deviation of the equipment through attitude adjustment, and isolates the influence of the environment to keep the equipment relatively stable in the inertial space [1][2][3][4]. According to the mechanism type, the mechanism can be classified into series stabilized platform and parallel stabilized platform [5][6].…”

Section: Introductionmentioning

confidence: 99%

Analysis of Vibration Characteristics of Electro-hydraulic 3-UPS/S Parallel Stabilized Platform

Yuan

Wang

Pang

et al. 2023

Preprint

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With the development of fluid power transmission and control and control technology, using electro-hydraulic driven can significantly improve the load-carrying capacity, stiffness, and control accuracy of the stabilization platforms. However, compared to mechanical driven, electro-hydraulic driven parallel stabilization platform needs to consider the stiffness and damping of the fluid, as well as the coupling effect between the fluid and the structure, making the modal and dynamic response characteristics of the mechanism more complex. Aiming at the above problems, taking the electro-hydraulic driven 3-UPS/S parallel stable platform as the research object, considering the hinge stiffness, the vibration characteristic equation of the mechanism was established by using the virtual work principle. Then the variation characteristics of natural frequency and vibration response with the position of mechanism were analyzed basing on the dynamic equation. Finally, the correctness of the model was verified by modal test and Runge-Kutta methods. This study can provide a theoretical basis for the dynamic design of electro-hydraulic driven parallel mechanisms.

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Precise orientation control of gimbals with parametric variations using model reference adaptive controller

Çakmak,

Altuğ

2024

IET Control Theory & Appl

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This study focuses on a model reference adaptive control method that ensures identical orientation outputs for different prototypes of a two‐axis gimbal produced in mass production. In this method, unlike traditional MRAC structures, an MRAC structure is used in conjunction with state feedback control. First, the reasons for the need for an adaptation mechanism in gimbals and why Model Reference Adaptive Control (MRAC) alone won't be sufficient have been discussed. In the first section, various applications of MRAC have also been mentioned. Then, the mathematical foundation of the model reference adaptive controller used in this study is elaborately explained, followed by stability analyses. In the next step, an ideal reference model exhibiting desired behavior and a real system model with different dynamics are created in a simulation environment. This allows a comparison of the adaptation capabilities of only MRAC and MRAC+State Feedback controllers. Based on the information gathered in this section, the recommended approach in the article is tested on a real gimbal system, and the results are shared. The obtained results demonstrate that the MRAC+State Feedback control structure significantly reduces the error in the gimbal's orientation response compared to the reference model.

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An integral sliding mode controller based disturbances rejection compound scheme for inertially stabilized platform in aerial remote sensing

Cited by 5 publications

References 23 publications

Research on the Line of Sight Stabilization Control Technology of Optronic Mast under High Oceanic Condition and Big Swaying Movement of Platform

Research on the Line of Sight Stabilization Control Technology of Optronic Mast under High Oceanic Condition and Big Swaying Movement of Platform

Analysis of Vibration Characteristics of Electro-hydraulic 3-UPS/S Parallel Stabilized Platform

Precise orientation control of gimbals with parametric variations using model reference adaptive controller

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