An Adaptive Control Technique for Motion Synchronization by On-line Estimation of a Recursive Least Square Method
- 45 Downloads
This article presents an adaptive technique to tune controller gains for the motion synchronization of two gimbal systems by using a recursive least square method in the real-time fashion. In the master-slave configuration, the slave gimbal system follows the master’s motion while the master tracks the reference. In order for the slave gimbal system to synchronize with the motion of the master gimbal system, the dynamic difference between two systems is compensated by the controller gains. The controller gains of the slave are adaptively adjusted by the recursive least square method to cope with the deviation. The performances of three control schemes such as an independent PD control, a dependent torque control, and an RLS torque control scheme are evaluated by the experimental studies for the low cost gimbal systems. Experimental studies confirm that the RLS-based adaptive scheme actually outperforms by adjusting controller gains for the motion synchronization of the master and slave configuration.
KeywordsAdaptive control gains gimbal systems master and slave configuration RLS synchronized motions
Unable to display preview. Download preview PDF.
- I. Furstner and L. Gogolak, “Synchronizing the motion of multiple electric motors-new possibilities for smart motion control,” IEEE Symposium on Intelligent Systems and Informatics, pp.105–110, 2016.Google Scholar
- B. K. Kim, W. K. Chung, and I. H. Suh, “Robust synchronizing motion control of twin-servo systems based on network modeling,” IEEE Conference on Decision and Control, pp. 1019–1024, 2000. [click]Google Scholar
- T. Wang, H. Gao, and J. Qiu, “A combined fault-tolerant and predictive control for network-based industrial processes,” IEEE Transactions on Industrial Electronics, vol. 63, no. 4, pp. 2529–2536, 2016. [click]Google Scholar
- C. Chen, C. Wen, Z. Liu, K. Xie, Y. Zhang, and C. L. Philip Chen, “Adaptive consensus of nonlinear multiagent systems with non-identical partially unknown control directions and bounded modelling errors,” IEEE Transactions on Automatic Control, to be published, doi: 10.1109/TAC.2016.2628204.Google Scholar
- S. P. Viswanathan and A. Sanyal, “Design of an adaptive singularity-free control moment gyroscope actuator for agile and precise attitude control of cubeset,” Proc. of Indian Control Conference, pp. 284–291, 2016. [click]Google Scholar
- J. Fan and D. Zhou, “Nonlinear attitude control of flexible spacecraft with scissored pairs of control moment gyros,” International Conference on Pervasive Computing, Signal Processing and Applications, pp. 719–722, 2010.Google Scholar