Discrete Model Reference Adaptive Control for Gimbal Servosystem of Control Moment Gyro with Harmonic Drive

Han, Bangcheng; Chen, Yanpeng; Li, Haitao; Yang, Lu

doi:10.1155/2013/897579

Cited by 7 publications

(2 citation statements)

References 23 publications

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“…The basic method is the timedomain method. Many modern control methods such as adaptive control [4,5] , robust control [6,7] , optimal control [8] , and other methods [9] have been applied in the control of the gimbal. Modern control theory uses different control methods for specific problems of the system, which can improve a certain performance index of the system.…”

Section: Introductionmentioning

confidence: 99%

Interval Type-2 Fuzzy Sliding-Mode Control of Three-Axis Stabilization Gimbal

Yan

Shi

et al. 2020

IEEE Access

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Aiming at the attitude control problem of three-axis stabilization gimbal, an algorithm combining interval type-2 fuzzy control and sliding-mode control was designed. Firstly, the mathematical model of the three-axis stabilization gimbal actuator was established after analyzing the mechanical structure of the three-axis stabilization gimbal. Then, a sliding-mode controller was designed based on the position ring of the actuator of three-axis stabilization gimbal. An interval type-2 control was used to reduce chattering in sliding-mode control. The switching function and its derivative are taken as the input of fuzzy control, and the rate of change of the approach law is taken as the output of fuzzy control. Fuzzy control can adjust the gain of sliding-mode surface dynamically, enhance the adaptability on external random disturbance, improve the speed of convergence and weaken chattering. The simulation results show that the output of the controller designed in this paper is more stable, and the tracking of the three-axis stabilization gimbal is more rapid and accurate.INDEX TERMS Interval type-two fuzzy control; sliding-mode control; three-axis Stabilization gimbal; position ring

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Section: Introductionmentioning

confidence: 99%

Interval Type-2 Fuzzy Sliding-Mode Control of Three-Axis Stabilization Gimbal

Yan

Shi

et al. 2020

IEEE Access

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show abstract

“…Transmission mechanisms are frequently used in the inner and outer gimbals to reduce the weight and volume of torque motors (Han, Chen, Li, & Yang, 2013;Zheng, Han, & Guo, 2014). Compared to other reducers, harmonic drive has several advantages such as compact design, low weight, high gear reduction with near zero backlash, high torque-to-weight ratio, high efficiency transmission under vacuum condition, etc.…”

Section: Introductionmentioning

confidence: 99%