TY - JOUR
T1 - Composite Velocity-Tracking Control for Flexible Gimbal System with Multi-Frequency-Band Disturbances
AU - Cui, Yangyang
AU - Yang, Yongjian
AU - Zhu, Yukai
AU - Qiao, Jianzhong
AU - Guo, Lei
N1 - Publisher Copyright:
© 2004-2012 IEEE.
PY - 2021/10
Y1 - 2021/10
N2 - In this paper, a composite velocity-tracking control scheme is presented for improving dynamics response and control accuracy of the flexible gimbal system in the control moment gyro (CMG). Specifically, an {H}_{infty } optimal vibration controller (HOVC) is developed to weigh multi-performance of the gimbal system, such as stability, fast-tracking performance, and attenuation ability of multi-frequency-band disturbances. Meanwhile, a robust disturbance observer (RDO) designed on optimization technology is utilized to improve the nonlinear friction rejection ability of the gimbal system. Moreover, rigorous theoretical analysis based on the small-gain theory is provided to demonstrate the stability of the closed-loop gimbal system under multiple disturbances. Finally, experimental studies are presented to verify the effectiveness of the proposed method.
AB - In this paper, a composite velocity-tracking control scheme is presented for improving dynamics response and control accuracy of the flexible gimbal system in the control moment gyro (CMG). Specifically, an {H}_{infty } optimal vibration controller (HOVC) is developed to weigh multi-performance of the gimbal system, such as stability, fast-tracking performance, and attenuation ability of multi-frequency-band disturbances. Meanwhile, a robust disturbance observer (RDO) designed on optimization technology is utilized to improve the nonlinear friction rejection ability of the gimbal system. Moreover, rigorous theoretical analysis based on the small-gain theory is provided to demonstrate the stability of the closed-loop gimbal system under multiple disturbances. Finally, experimental studies are presented to verify the effectiveness of the proposed method.
KW - Gimbal system
KW - H∞ optimal vibration controller (HOVC)
KW - multiple disturbances
KW - robust disturbance observer (RDO)
UR - https://www.scopus.com/pages/publications/85116268315
U2 - 10.1109/TCSI.2021.3095527
DO - 10.1109/TCSI.2021.3095527
M3 - 文章
AN - SCOPUS:85116268315
SN - 1549-8328
VL - 68
SP - 4360
EP - 4370
JO - IEEE Transactions on Circuits and Systems
JF - IEEE Transactions on Circuits and Systems
IS - 10
ER -