Composite Velocity-Tracking Control for Flexible Gimbal System With Multi-Frequency-Band Disturbances

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 o...

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Bibliographic Details
Published in:IEEE transactions on circuits and systems. I, Regular papers Regular papers, 2021-10, Vol.68 (10), p.4360-4370
Main Authors: Cui, Yangyang, Yang, Yongjian, Zhu, Yukai, Qiao, Jianzhong, Guo, Lei
Format: Article
Language:English
Subjects:
<italic xmlns:ali="http://www.niso.org/schemas/ali/1.0/" xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">H ∞ optimal vibration controller (HOVC)
Attenuation
Control systems
Disturbance observers
Friction
Gimbal system
multiple disturbances
Optimization
Perturbation methods
robust disturbance observer (RDO)
Rotors
Space vehicles
Torque
Tracking control
Vibrations
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Summary: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.
ISSN:1549-8328
1558-0806
DOI:10.1109/TCSI.2021.3095527