Abstract
This paper investigates the problem of precise and quick tracking for gyrostabilized platform (GSP) with unknown hysteresis, unknown control directions, and unknown compound disturbance. Firstly, the dynamic model of GSP is transformed into a strict feedback formulation by designed FD to facilitate the backstepping control system. Secondly, performance functions are constructed at each step of backstepping design to force tracking errors to fall within the prescribed boundaries. Besides, through ingenious transformation, radial basis function neural network (RBFNN) is applied to estimate the unknown control gains preceded by hysteresis. Hence, the problem of prescribed performance control with unknown compound disturbances, unknown hysteresis, and unknown control directions is creatively solved. Furthermore, the exploited controllers are accurate model independent, which guarantees satisfactory robustness of control laws against unknown uncertainties. Finally, the stability of the closed-loop control system is confirmed via Lyapunov stability theory, and numerical simulations are given for a GSP to validate the effectiveness of the proposed controller.
Highlights
Gyrostabilized platform (GSP) is a kind of precise servo tracking system, which is usually mounted on a mobile carrier for stable tracking of moving targets
Special contributions of this paper are summarized as follows: (1) This paper focuses on the problem of compound disturbances for GSP
(2) The unknown hysteresis results in unknown control direction problem for GSP, which increases the difficulty of controller design
Summary
Gyrostabilized platform (GSP) is a kind of precise servo tracking system, which is usually mounted on a mobile carrier for stable tracking of moving targets. The internal disturbances of system include hysteresis nonlinearity of motor and the perturbation of model, while the external disturbances of system include the motion of basement and friction torque between the shafts Faced with such problems, researches have tried varieties of approaches to realize better dynamic response performance and stronger robustness of GSP. Zhou and et al combine the feedforward control with friction observer to compensate for friction disturbance, and the friction is eliminated in large scale because of the precise estimation They designed a backstepping integral adaptive compensator to compensate for disturbance [8, 9]. This paper will concentrate on solving the problem of compound disturbances and unknown control directions as well as guaranteeing prescribed performance for tracking errors.
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