A six-degree-of-freedom magnetically levitated variable compliance fine-motion wrist: design, modeling, and control

1991 ◽  
Vol 7 (3) ◽  
pp. 320-332 ◽  
Author(s):  
R.L. Hollis ◽  
S.E. Salcudean ◽  
A.P. Allan
Keyword(s):  
Degree Of Freedom ◽  
Modeling And Control ◽  
Magnetically Levitated ◽  
Variable Compliance ◽  
Six Degree Of Freedom ◽  
And Control

Modeling and control of a magnetically levitated planar motor

2009 ◽  
Author(s):  
Vincent Reymond ◽  
Marc Kunze ◽  
Alireza Karimi ◽  
Roland Longchamp
Keyword(s):  
Modeling And Control ◽  
Magnetically Levitated ◽  
And Control

Active disturbance rejection guidance and control scheme for homing missiles with impact angle constraints

2018 ◽  
Vol 233 (3) ◽  
pp. 1133-1146
Author(s):  
Jian Hua Wang ◽  
Yuan Wen Cai ◽  
Long Cheng ◽  
Yan Li ◽  
Chao Jun Xin ◽  
...  
Keyword(s):  
Disturbance Rejection ◽  
Three Dimensional ◽  
Impact Angle ◽  
Degree Of Freedom ◽  
Guidance And Control ◽  
Active Disturbance Rejection ◽  
Control Scheme ◽  
Homing Missiles ◽  
Six Degree Of Freedom ◽  
And Control

An active disturbance rejection guidance and control scheme for homing missiles with three-dimensional impact angle constraints is proposed. The six-degree-of-freedom dynamical and kinematical models containing model uncertainties and disturbances are established. A strict feedback relative dynamics between the target and homing missile in three-dimensional space are deduced. A reconstructed reduced-order attitude controller design model is proposed. A two-loop control structure with respect to the centroid guidance loop and rotational control loop is conducted to implement the six-degree-of-freedom guidance and control system with the help of second-order sliding mode approach and extended state observers. The tracking loop of the Euler angles of the missile can be elided and the number of six-degree-of-freedom control parameters can be reduced. Finally, the effectiveness and robustness of the newly proposed guidance and control scheme are investigated and verified via six-degree-of-freedom nonlinear simulation studies.

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