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