Adaptive dynamic surface control of VCM drived pointing mirror with parameter uncertainties (IEEE CGNCC)

This paper proposes an adaptive backstepping controller for the voice coil motor(VCM) in the present of parameter uncertainties. Based on the mathematical model of the VCM, the design procedure is divided into three parts, namely the position loop, angular velocity loop and the current loop, the dynamic surface control is utilized to remove the explosion feature in backstepping caused by the needed for computing the derivatives of virtual control variables, through a first-order filter the approximation of derivatives can be obtained with less computation complexity. To cope with the parameter uncertainties, the parameter adaption laws are designed through the Lyapunov stability analysis, and uniformly ultimately bounded(UUB) stability can be proven for the close-loop. Finally, the proposed control scheme is tested on a VCM driven pointing mirror to verify the effectiveness and robustness.