Self-tuning controller for nonlinear inertial stabilization systems

Author

Li, Bo ; Hullender, David

Author_Institution

Ericsson Inc., Richardson, TX, USA

Volume

6

Issue

3

fYear

1998

fDate

5/1/1998 12:00:00 AM

Firstpage

428

Lastpage

434

Abstract

The ability to compensate for disturbances resulting from nonlinear phenomena such as Coulomb friction in inertial stabilization systems has been demonstrated to be feasible when the plant dynamics of the system are accurately modeled. However, for cases where the plant is unknown or changing, a self-tuning control algorithm is desired to provide robustness. This paper formulates such a self-tuning control algorithm with specific application to systems with inherent nonlinearities. The ability of the algorithm to self-tune and compensate for nonlinear induced disturbances is demonstrated for an inertial stabilization gimbal control system with Coulomb type bearing friction

Keywords

adaptive control; compensation; nonlinear control systems; self-adjusting systems; stability; Coulomb friction; Coulomb type bearing friction; compensation; disturbances; gimbal control system; inherent nonlinearities; nonlinear induced disturbances; nonlinear inertial stabilization systems; plant dynamics; robustness; self-tuning control algorithm; self-tuning controller; Control nonlinearities; Control systems; Friction; Nonlinear control systems; Nonlinear dynamical systems; Parameter estimation; Programmable control; Robust control; Torque; Transfer functions;

fLanguage

English

Journal_Title

Control Systems Technology, IEEE Transactions on

Publisher

ieee

ISSN

1063-6536

Type

jour

DOI

10.1109/87.668043

Filename

668043