Controller design for motion stabilization of a turret on a moving platform

Cited 0 time in webofscience Cited 0 time in scopus
  • Hit : 45
  • Download : 0
The motion stabilization have been a critical interest in various mechanical fields. It, especially, plays a key role in maintenance of the Line of Sight (LOS) for weapons such as turret's precise targeting performance. For high mobility, turrets are typically located on various moving platforms, either ground-base or ocean-base. The base motion affects LOS through the mechanical friction via bearing structure. Thus, this paper proposes dual-stage control architecture for two Degrees of Freedom (DOF) turret on a ground-base moving platform for robust position tracking performance. Proposed control structure possesses a real-time disturbance observer in order to compensate disturbances including friction caused from the moving base. The structure consists a conventional outer-loop position controller for robust position tracking performance and inner-loop disturbance observe for effective disturbance cancellation. The validity of the algorithm is confirmed via simulation by observing that the resulting position tracking error satisfies the target performance.
Publisher
Institute of Control, Robotics and Systems
Issue Date
2017
Language
English
Article Type
Article
Citation

Journal of Institute of Control, Robotics and Systems, v.23, no.10, pp.816 - 824

ISSN
1976-5622
DOI
10.5302/J.ICROS.2017.17.0149
URI
http://hdl.handle.net/10203/269108
Appears in Collection
ME-Journal Papers(저널논문)
Files in This Item
There are no files associated with this item.

qr_code

  • mendeley

    citeulike


rss_1.0 rss_2.0 atom_1.0