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Penulis : JORGE MONTOYA CHAIREZ [-]
Kontributor / Dosen Pembimbing :
  • VICTOR SANTIBANEZ
Jenis Koleksi : Jurnal elektronik
Tahun Terbit :
Penerbit : Teknik Elektro
Fakultas : Sekolah Teknik Elektro dan Informatika
Subjek :
Kata Kunci : ControlmomentgyroscopeUnderactuatedsystemsTrajectorytrackingcontrolAdaptivecontrolReal–timeexperiments
Sumber : Mechatronics57(2019)73–85
Staf Input/Edit : SYSTEM  
File : 1 file
Tanggal Input : 20 Des 2018

2018_EJRNL_JORGE_MONTOYA_CHAIREZ_1.pdf
Terbatas Rita Nurainni, S.I.Pus
» 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.

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