A refined anti‐disturbance control method for gimbal servo systems subject to multiple disturbances under constraints
Abstract The performance of the gimbal servo system in control moment gyro (CMG), which includes precision, lifespan etc., is one of the crucial factors of spacecraft attitude control. The various practical disturbances, however, will not only deteriorate the velocity‐tracking accuracy but will also...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2023-07-01
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| Series: | IET Control Theory & Applications |
| Subjects: | |
| Online Access: | https://doi.org/10.1049/cth2.12474 |
| _version_ | 1797788480826245120 |
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| author | Yangyang Cui Yongjian Yang Jianzhong Qiao Weimin Bao |
| author_facet | Yangyang Cui Yongjian Yang Jianzhong Qiao Weimin Bao |
| author_sort | Yangyang Cui |
| collection | DOAJ |
| description | Abstract The performance of the gimbal servo system in control moment gyro (CMG), which includes precision, lifespan etc., is one of the crucial factors of spacecraft attitude control. The various practical disturbances, however, will not only deteriorate the velocity‐tracking accuracy but will also cause the abnormal gimbal velocity problem (especially peak phenomenon). To this end, this paper proposes a refined anti‐disturbance control method to deal with velocity output constraints and multiple disturbances. Starting with fully understanding the prior information of multiple disturbances, a refined disturbance observer with a low conservativeness is designed to accurately estimate disturbances. The disturbance‐estimation error is analyzed in detail to ensure convergence to a bounded region. Subsequently, a novel barrier Lyapunov function‐based backstepping controller is proposed that considers the residuals of disturbance estimation to simultaneously achieve multiple disturbances attenuation and compensation, and handle velocity output constraints. Notably, the gimbal's maximum velocity is precisely limited to a pre‐specified low range, which benefits the CMG's lifespan and performance. Finally, both simulation and experimental results show that the proposed method performs better in disturbance estimation, velocity tracking, and robustness. |
| first_indexed | 2024-03-13T01:37:11Z |
| format | Article |
| id | doaj.art-b8d4082122d64ac9a01713d99345bb29 |
| institution | Directory Open Access Journal |
| issn | 1751-8644 1751-8652 |
| language | English |
| last_indexed | 2024-03-13T01:37:11Z |
| publishDate | 2023-07-01 |
| publisher | Wiley |
| record_format | Article |
| series | IET Control Theory & Applications |
| spelling | doaj.art-b8d4082122d64ac9a01713d99345bb292023-07-04T04:37:49ZengWileyIET Control Theory & Applications1751-86441751-86522023-07-0117101430144210.1049/cth2.12474A refined anti‐disturbance control method for gimbal servo systems subject to multiple disturbances under constraintsYangyang Cui0Yongjian Yang1Jianzhong Qiao2Weimin Bao3College of Engineering Peking University Beijing ChinaSchool of Automation Science and Electrical Engineering Beihang University Beijing ChinaSchool of Automation Science and Electrical Engineering Beihang University Beijing ChinaCollege of Engineering Peking University Beijing ChinaAbstract The performance of the gimbal servo system in control moment gyro (CMG), which includes precision, lifespan etc., is one of the crucial factors of spacecraft attitude control. The various practical disturbances, however, will not only deteriorate the velocity‐tracking accuracy but will also cause the abnormal gimbal velocity problem (especially peak phenomenon). To this end, this paper proposes a refined anti‐disturbance control method to deal with velocity output constraints and multiple disturbances. Starting with fully understanding the prior information of multiple disturbances, a refined disturbance observer with a low conservativeness is designed to accurately estimate disturbances. The disturbance‐estimation error is analyzed in detail to ensure convergence to a bounded region. Subsequently, a novel barrier Lyapunov function‐based backstepping controller is proposed that considers the residuals of disturbance estimation to simultaneously achieve multiple disturbances attenuation and compensation, and handle velocity output constraints. Notably, the gimbal's maximum velocity is precisely limited to a pre‐specified low range, which benefits the CMG's lifespan and performance. Finally, both simulation and experimental results show that the proposed method performs better in disturbance estimation, velocity tracking, and robustness.https://doi.org/10.1049/cth2.12474aerospace controlcontrol moment gyroscopedisturbance observerextended state observerbarrier Lyapunov function |
| spellingShingle | Yangyang Cui Yongjian Yang Jianzhong Qiao Weimin Bao A refined anti‐disturbance control method for gimbal servo systems subject to multiple disturbances under constraints IET Control Theory & Applications aerospace control control moment gyroscope disturbance observer extended state observer barrier Lyapunov function |
| title | A refined anti‐disturbance control method for gimbal servo systems subject to multiple disturbances under constraints |
| title_full | A refined anti‐disturbance control method for gimbal servo systems subject to multiple disturbances under constraints |
| title_fullStr | A refined anti‐disturbance control method for gimbal servo systems subject to multiple disturbances under constraints |
| title_full_unstemmed | A refined anti‐disturbance control method for gimbal servo systems subject to multiple disturbances under constraints |
| title_short | A refined anti‐disturbance control method for gimbal servo systems subject to multiple disturbances under constraints |
| title_sort | refined anti disturbance control method for gimbal servo systems subject to multiple disturbances under constraints |
| topic | aerospace control control moment gyroscope disturbance observer extended state observer barrier Lyapunov function |
| url | https://doi.org/10.1049/cth2.12474 |
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