Article Details

Mechatronics

Oleh   JORGE MONTOYA CHAIREZ [-]
Kontributor / Dosen Pembimbing : VICTOR SANTIBANEZ
Jenis Koleksi : Jurnal elektronik
Penerbit : STEI - Teknik Elektro
Fakultas : Sekolah Teknik Elektro dan Informatika (STEI)
Subjek :
Kata Kunci : ControlmomentgyroscopeUnderactuatedsystemsTrajectorytrackingcontrolAdaptivecontrolReal–timeexperiments
Sumber : Mechatronics57(2019)73–85
Staf Input/Edit : wedya  
File : 1 file
Tanggal Input : 2018-12-20 11:47:49

Generic placeholder image
2018_EJRNL_JORGE_MONTOYA_CHAIREZ_1.pdf

Terbatas
» ITB


ontrolofunderactuatedmechanicalsystemshasbeenanimportanttrendinmechatronicsandnonlinearsystems.TypicalexamplesaretheFurutapendulumandinertiawheelpendulum.Ontheotherhand,gyroscopesareimportantinaerialandspacesystems.Inthispaper,atwo-degreeoffreedomunderactuatedcontrolmomentgyroscope(CMG)isstudied.Thissystemishighlycoupledofonejointtotheanotherandisdifficulttocontrol,whichmakeitanimportantbenchmarksystem.TheproblemaddressedinthispaperistoachieverobustmotioncontroloftheunderactuatedCMG.Firstly,atrajectorytrackingcontrollerisdevelopedbyusingthefeedbacklinearizationtechnique.Secondly,twonewadaptivealgorithmsareintroduced,whichcorrespondtoanadaptiveneuralnetworkalgorithmandanadaptivemodelregressorscheme.Areal–timeexperimentalcomparisoniscarriedoutamongalinearPDcontrollaw,acascadePID-PIDcontrollerandtheintroducedschemes.Thereal-timeexperimentalstudyvalidatestheintroducedtheory,wheretheperformanceofthecontrollersisevaluatedwithandwithoutaperiodicdisturbanceattheinput.