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Advisor:Nortren Tsai Speaker:B.Y. Wu
Adaptive Sliding Mode Control System for Nonlinear Single-axis Gyroscope System Advisor:Nortren Tsai Speaker:B.Y. Wu Department of Mechanical Engineering National Chen Kung University
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Outline Problem statement System dynamics Adaptive controller design
Adaptive sliding mode controller Conclusion and future work
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Background Some issues:
stability nonlinear phenomena chaotic dynamics technical applications Applications: Gyros for sensing angular motion are used in airplane automatic pilots rocket-vehicle launch-guidance space-vehicle attitude systems submarine inertial auto-navigation
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Problem Statement Single-axis gyroscope system.
The closed-loop feedback is designed to account for the gimbal nutation as the gyroscope undergoing an angular velocity in perpendicular direction. Unknown excitation estimation.
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Single-axis gyroscope
Z θ Y X Motor
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Gyroscope System Model
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Nonlinear Singular Perturbation Model
Standard form:
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Reduced Order Model
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Boundary layer subsystems
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Adaptive Control
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Critical Drawbacks The control force is too complex to obtained.
The application is not available and not realizable. Lack of robustness. Adaptive sliding mode control
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Brief Concept of Sliding Mode Control
Reaching Mode and Sliding Mode x2=0 Reaching mode Sliding mode x1=0 S=0
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Adaptive Sliding Mode Controller
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Adaptation Law
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Analysis of Closed-loop System
Angular velocity excitation varies as Slowly Time-varying
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Analysis of Closed-loop System
Regulation capability SPSMC ASPSMC
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Analysis of Closed-loop System
Phase Portrait START SPSMC ASPSMC
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Analysis of Closed-loop System
Excitation Estimation (Accuracy!) Estimation Real
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Analysis of Closed-loop System
Angular velocity excitation varies as Fast Time-varying
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Analysis of Closed-loop System
Regulation capability (A little poor)
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Analysis of Closed-loop System
Phase Portrait START
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Analysis of Closed-loop System
Excitation Estimation Estimation Real
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Conclusion Two control strategies are proposed Adaptive control:
Lack of robustness Hard to realize Adaptive sliding mode control: Better regulation capability than SMC Good excitation estimation accuracy
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Future Work SMC for tracking and time-varying problem
Angular velocity excitation estimation: Fast Time-varying With large uncertainty High nonlinearity Combine fuzzy logic control with adaptive sliding mode control
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The End Thanks for Your Listening
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