Adaptive sinusoidal disturbance cancellation strategy for pointing applications

Author

Lin, Haomin ; McInroy, John E.

Author_Institution

Dept. of Electr. Eng., Wyoming Univ., Laramie, WY, USA

Volume

2

fYear

2000

fDate

2000

Firstpage

1451

Abstract

This paper combines an adaptive sinusoidal disturbance cancellation scheme with linear pointing control techniques. The approach utilizes a six-axis active platform to reject disturbances with a large sinusoidal component, which could be caused by a noisy host or target. Since often the frequency of the sinusoidal disturbance can not be precisely known, a phase locked loop (PLL) algorithm is used to catch the frequency, and a method for PLL design is developed. Experimental results on the UW (University of Wyoming) hexapod demonstrate a 50-fold decrease in pointing errors due to the monotone disturbance

Keywords

adaptive control; control system synthesis; legged locomotion; noise; phase locked loops; stability; PLL design; adaptive sinusoidal disturbance cancellation; disturbance rejection; hexapod; linear pointing control techniques; monotone disturbance; noise; phase locked loop algorithm; six-axis active platform; Active noise reduction; Adaptive control; Algorithm design and analysis; Bandwidth; Design methodology; Frequency estimation; Noise cancellation; Phase estimation; Phase locked loops; Programmable control;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2000. Proceedings of the 39th IEEE Conference on

Conference_Location

Sydney, NSW

ISSN

0191-2216

Print_ISBN

0-7803-6638-7

Type

conf

DOI

10.1109/CDC.2000.912062

Filename

912062