کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
5004253 | 1461188 | 2017 | 13 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
A compound scheme on parameters identification and adaptive compensation of nonlinear friction disturbance for the aerial inertially stabilized platform
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کلمات کلیدی
موضوعات مرتبط
مهندسی و علوم پایه
سایر رشته های مهندسی
کنترل و سیستم های مهندسی
پیش نمایش صفحه اول مقاله
![عکس صفحه اول مقاله: A compound scheme on parameters identification and adaptive compensation of nonlinear friction disturbance for the aerial inertially stabilized platform A compound scheme on parameters identification and adaptive compensation of nonlinear friction disturbance for the aerial inertially stabilized platform](/preview/png/5004253.png)
چکیده انگلیسی
A compound scheme is proposed to compensate the effect of nonlinear friction disturbance on the control precision of a three-axis inertially stabilized platform (ISP) for aerial remote sensing applications. The scheme consists of friction parameters identification and adaptive compensation. A LuGre model-based ISP friction model is first developed. Then, a comprehensive experimental scheme is proposed to obtain the static friction parameters. Further, the dynamic parameters are identified by experiments and dynamic optimization. On the basis of identified parameters and Lyapunov stability theory, a backstepping integral adaptive compensator is designed to compensate the nonlinear friction disturbance. Simulations and experiments are carried out to validate the scheme. The results show that the compound scheme can accurately obtain the friction parameters and improve the control precision and stability of ISP.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: ISA Transactions - Volume 67, March 2017, Pages 293-305
Journal: ISA Transactions - Volume 67, March 2017, Pages 293-305
نویسندگان
Xiangyang Zhou, Beilei Zhao, Wei Liu, Haixiao Yue, Ruixia Yu, Yulong Zhao,