Efficient disturbance rejection of gimbaled inertial stabilization platform via relay controller |
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| Institution: | 1. School of Automation, Nanjing University of Science and Technology, Nanjing 210094, China;2. College of Automation & College of Artificial Intelligence, Nanjing University of Posts and Telecommunications, Nanjing 210023, China;1. College of Information Science and Technology, Bohai University, Jinzhou, Liaoning 121013, China;2. College of Mathematical Sciences, Bohai University, Jinzhou, Liaoning 121013, China;3. College of Control Science and Engineering, Bohai University, Jinzhou, Liaoning 121013, China;1. MOE-LCSM, School of Mathematics and Statistics, Hunan Normal University, Changsha, 410081, Hunan, China;2. The Key Laboratory of Control and Optimization of Complex Systems, College of Hunan Province, Hunan Normal University, Changsha, 410081, China;1. School of Mathematics and Physics, Jinggangshan University, Ji’an, 343009, China;2. School of Mathematical Sciences, Tongji University, Shanghai, 200092, China;3. College of Mechanical and Electrical Engineering, Jinggangshan University, Ji’an 343009, China;1. Tallinn University of Technology, Department of Computer Systems, Estonia;2. Department of Electrical Engineering, Sahand University of Technology, Tabriz, Iran;1. Department of Electrical Engineering, Faculty of Engineering, University of Guilan, Rasht, Iran;2. Department of Mechanical and Industrial Engineering, Norwegian University of Science and Technology, Trondheim, Norway |
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| Abstract: | In this article a relay controller is introduced in the simple motor driven gimbaled inertial stabilization platform (ISP) to improve disturbance rejection capacity. This improvement is possible through the manipulation of the adaptive feature of a limit cycle inherent in relay control systems. We present the sufficient condition for the existence of a limit cycle and its stability analysis in the relay control system, along with how this limit cycle can suppress the exogenous torque disturbance efficiently even in the presence of randomly distributed exogenous inputs. As a disturbance rejection measure, line-of-sight stabilization accuracy was obtained with an ISP driven by a typical linear controller and one by a relay controller, respectively. The results of numerical examples show the effectiveness and efficiency of the relay controller over a typical linear controller. |
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