Adaptive dynamic surface control of a two-axis gimbal system

In this study, adaptive control of a two-axis gimbal system with actuator dynamics in the presence of parametric uncertainties is addressed. The considered gimbal system is a pointing antenna which can rotate over y and z axes and covers all line of sights. Adaptive dynamic surface control technique is used to overcome the ‘explosion of complexity’ problem which appears in adaptive backstepping control design. By using the Lyapunov stability analysis, the convergence of the tracking error to origin and boundedness of all closed-loop signals are guaranteed. Finally, excellent performance of the proposed method for tracking the desired trajectories and also the effectiveness of this technique for controlling a two-axis pointing antenna are shown for a real antenna model in ADAMS.

[1]  Jin Bae Park,et al.  Adaptive Output Feedback Control of Flexible-Joint Robots Using Neural Networks: Dynamic Surface Design Approach , 2008, IEEE Transactions on Neural Networks.

[2]  Dan Wang,et al.  Neural network‐based adaptive dynamic surface control of uncertain nonlinear pure‐feedback systems , 2011 .

[3]  J. Slotine,et al.  On the Adaptive Control of Robot Manipulators , 1987 .

[4]  Weisheng Chen.  Adaptive backstepping dynamic surface control for systems with periodic disturbances using neural networks , 2009 .

[5]  Shuzhi Sam Ge,et al.  Adaptive dynamic surface control of nonlinear systems with unknown dead zone in pure feedback form , 2008, Autom..

[6]  Jin Bae Park,et al.  Adaptive Dynamic Surface Control for Stabilization of Parametric Strict-Feedback Nonlinear Systems With Unknown Time Delays , 2007, IEEE Transactions on Automatic Control.

[7]  Ebrahim Farjah,et al.  Backstepping-Based Control of a Strapdown Boatboard Camera Stabilizer , 2007 .

[8]  Shengyuan Xu,et al.  Adaptive Output Feedback Control for Nonlinear Time-Delay Systems by Fuzzy Approximation Approach , 2013, IEEE Transactions on Fuzzy Systems.

[9]  Yongming Li,et al.  Observer-Based Adaptive Fuzzy Backstepping Dynamic Surface Control for a Class of MIMO Nonlinear Systems , 2011, IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics).

[10]  Jin Bae Park,et al.  A Simple Adaptive Control Approach for Trajectory Tracking of Electrically Driven Nonholonomic Mobile Robots , 2010, IEEE Transactions on Control Systems Technology.

[11]  Liang Xu,et al.  Adaptive backstepping trajectory tracking control of robot manipulator , 2012, J. Frankl. Inst..

[12]  Dong-Juan Li,et al.  Adaptive output feedback control of uncertain nonlinear chaotic systems based on dynamic surface control technique , 2012 .

[13]  Norihiko Adachi,et al.  Adaptive tracking control of a nonholonomic mobile robot , 2000, IEEE Trans. Robotics Autom..

[14]  Romeo Ortega,et al.  Adaptive motion control of rigid robots: a tutorial , 1988, Proceedings of the 27th IEEE Conference on Decision and Control.

[15]  Jin Bae Park,et al.  Adaptive Dynamic Surface Control of Flexible-Joint Robots Using Self-Recurrent Wavelet Neural Networks , 2006, IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics).

[16]  Swaroop Darbha,et al.  Dynamic surface control for a class of nonlinear systems , 2000, IEEE Trans. Autom. Control..

[17]  P. P. Yip,et al.  Adaptive dynamic surface control : a simplified algorithm for adaptive backstepping control of nonlinear systems , 1998 .

[18]  Tao Zhang,et al.  Robust dynamic surface control of nonlinear systems with prescribed performance , 2014 .

[19]  Petros A. Ioannou,et al.  Instability analysis and robust adaptive control of robotic manipulators , 1989, IEEE Trans. Robotics Autom..

[20]  Darren M. Dawson,et al.  Integrator backstepping control of a brush DC motor turning a robotic load , 1994, IEEE Trans. Control. Syst. Technol..

[21]  Shaocheng Tong,et al.  Adaptive fuzzy control of uncertain stochastic nonlinear systems with unknown dead zone using small-gain approach , 2014, Fuzzy Sets Syst..

[22]  Tianping Zhang,et al.  Adaptive output feedback dynamic surface control of nonlinear systems with unmodeled dynamics and unknown high-frequency gain sign , 2014, Neurocomputing.

[23]  Zi-Jiang Yang,et al.  Robust position control of a magnetic levitation system via dynamic surface control technique , 2004, IEEE Transactions on Industrial Electronics.

[24]  Dan Wang,et al.  Neural network-based adaptive dynamic surface control for a class of uncertain nonlinear systems in strict-feedback form , 2005, IEEE Transactions on Neural Networks.

[25]  Shaocheng Tong,et al.  Adaptive fuzzy fault-tolerant control of static var compensator based on dynamic surface control technique , 2013, Nonlinear Dynamics.

[26]  L. Jiao,et al.  Brief Paper: Output-feedback adaptive dynamic surface control of stochastic non-linear systems using neural network , 2010 .