Desired compensation adaptive robust control for control moment gyroscopes gimbal servo system
WANG Lu
GUO Yu
ZHONG Chen-xing
WU Yi-fei
GUO Jian
Abstract：For the control moment gyroscopes gimbal servo system with parametric uncertainties,friction nonlinearities and external disturbance,an adaptive robust control method considering LuGre friction model is presented.To estimate the unknown inertia and damping coefficient of the gimbal servo system,the LuGre friction parametric uncertainties as well as the unknown upper bound of the external disturbance,a parameter update law is designed.Furthermore,to improve the robustness of the system to parametric variation and external disturbance,a desired compensation adaptive robust controller is designed.It can precisely compensate the LuGre friction nonlinearity and reduce the adverse effect of measurement noise and external disturbance on the system.Stability of the closed-loop control system is proved via Lyapunov technique.The simulation results for a flexible spacecraft attitude maneuver verify the effectiveness of the proposed control law.
Keywords：control moment gyroscopesservo systemsadaptive controlfriction modelsuncertainty
Publication Date：2017-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：8( 1143-1150 )