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Desired Compensation Adaptive Robust Control of Electrical-optical Gyro-stabilized Platform with Continuous Friction Compensation Using Modified LuGre Model

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  • Control Theory and Applications
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Abstract

Continuous friction compensation along with other modeling uncertainties is concerned in this paper, to result in a continuous control input, which is more suitable for controller implementation. To accomplish this control task, a novel continuously differentiable nonlinear friction model is synthesized by modifying the traditional piecewise continuous LuGre model, then a desired compensation version of the adaptive robust controller is proposed for precise tracking control of electrical-optical gyro-stabilized platform systems. As a result, the adaptive compensation and the regressor in the proposed controller will depend on the desired trajectory and on-line parameter estimates only. Hence, the effect of measurement noise can be reduced and then high control performance can be expected. Furthermore, the proposed controller theoretically guarantees an asymptotic output tracking performance even in the presence of modeling uncertainties. Extensively comparative experimental results are obtained to verify the effectiveness of the proposed control strategy.

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Authors and Affiliations

  1. School of Mechanical Engineering, Nanjing University of Posts and Telecommunications, Nanjing, 210023, China

    Yuefei Wu

  2. Institute of Advanced Technology, Nanjing University of Posts and Telecommunications, Nanjing, China

    Dong Yue

Authors
  1. Yuefei Wu
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  2. Dong Yue
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Corresponding author

Correspondence to Yuefei Wu.

Additional information

Recommended by Editor Hamid Reza Karimi. This work was supported in part by the NUPTSF (Grant No. NY215053).

Yuefei Wu received the Ph.D. degree in Mechatronics from Nanjing University of Science and Technology in 2015. He is currently a lecture in the School of Automation, Nanjing University of Posts and Telecommunications, China. His research interests include high accuracy servo control of mechatronic systems, adaptive and robust control.

Dong Yue received the Ph.D. degree from the South China University of Technology, Guangzhou, China, in 1995. He is currently a professor and dean of Institute of Advanced Technology, Nanjing University of Posts and Telecommunications. His research interests include analysis and synthesis of networked control systems, multi-agent systems, optimal control of power systems, and internet of things.

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Wu, Y., Yue, D. Desired Compensation Adaptive Robust Control of Electrical-optical Gyro-stabilized Platform with Continuous Friction Compensation Using Modified LuGre Model. Int. J. Control Autom. Syst. 16, 2264–2272 (2018). https://doi.org/10.1007/s12555-017-0705-y

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  • DOI: https://doi.org/10.1007/s12555-017-0705-y

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