Angular control with attitudes estimation feedback and data-driven model for fine motion platform
DU Zhang-ming
ZHOU Chao
WANG Shuo
Abstract：High-precision angular displacement actuation is an important task in applications of fine-motion platform,for which the major current products highly depends on expensive high-precision mechanism with low flexibility of cus-tomization.Therefore,this article proposes a controller based on a combination of attitude estimation feedback and data-driven models,making it possible for platforms with low mechanical precision to perform fine angular actuation.Firstly,the forward and inverse kinematics models are built with neural-networks,avoiding complex calculations for the solution of kinematic problem and the decoupling between motion axes.Secondly,a joint estimation of angular displacement is de-signed for feedback,based on sparse actual measurements and forward-model predictions.Then the direct-inverse-control(DIC)and the proportional-integral(PI)method are combined to perform 2-DOFs angular control.Finally,the effectiveness of proposed method is verified with angular tracking experiments.
Keywords：fine motion platformangular displacement controlattitude estimationdirect inverse controlneural network
Publication Date：2025-03-31
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：9( 473-481 )