Title :
Adaptive sliding mode control algorithm for a multi-degree-of-freedom microgravity isolation system
Author :
Wang, Y.-P. ; Sinha, A.
Author_Institution :
Dept. of Mech. Eng., Pennsylvania State Univ., University Park, PA, USA
Abstract :
An adaptive sliding-mode control algorithm has been developed for a multi-degree-of-freedom microgravity isolation system such that the desired transmissibility matrix is achieved. The reference model corresponds to the desired transmissibility matrix. The control law is based on the sliding mode control theory. Sliding hyperplanes with boundary layers are chosen in the state space consisting of errors between the outputs of the actual system and the reference model and their derivatives. The adaptation mechanism is designed on the basis of a Lyapunov function consisting of tracking errors and parameter errors. Numerical results are presented for a three-degree-of-freedom system. It has been found that the resulting transmissibility matrix is very close to the desired function.
Keywords :
Lyapunov methods; adaptive control; aerospace control; errors; kinematics; matrix algebra; space vehicles; tracking; variable structure systems; zero gravity experiments; Lyapunov function; adaptation mechanism; adaptive sliding mode control algorithm; boundary layers; control law; errors; multi-degree-of-freedom microgravity isolation system; numerical results; parameter errors; reference model; sliding hyperplanes; spacecraft; three-degree-of-freedom system; tracking errors; transmissibility matrix; Acceleration; Actuators; Adaptive control; Control systems; Lyapunov method; Mechanical engineering; Programmable control; Sliding mode control; Space vehicles; State-space methods;
Conference_Titel :
Control Applications, 1997., Proceedings of the 1997 IEEE International Conference on
Conference_Location :
Hartford, CT, USA
Print_ISBN :
0-7803-3876-6
DOI :
10.1109/CCA.1997.627758
