scholarly journals Experimental Validation of a Compound Control Scheme for a Two-Axis Inertially Stabilized Platform with Multi-Sensors in an Unmanned Helicopter-Based Airborne Power Line Inspection System

Sensors ◽  
2016 ◽  
Vol 16 (3) ◽  
pp. 366 ◽  
Author(s):  
Xiangyang Zhou ◽  
Yuan Jia ◽  
Qiang Zhao ◽  
Ruixia Yu
Keyword(s):  
Experimental Validation ◽  
Power Line ◽  
Inspection System ◽  
Unmanned Helicopter ◽  
Compound Control ◽  
Control Scheme ◽  
Stabilized Platform ◽  
Inertially Stabilized Platform

scholarly journals An Improved Fuzzy Neural Network Compound Control Scheme for Inertially Stabilized Platform for Aerial Remote Sensing Applications

2018 ◽  
Vol 2018 ◽  
pp. 1-15 ◽  
Author(s):  
Xiangyang Zhou ◽  
Yating Li ◽  
Yuan Jia ◽  
Libo Zhao
Keyword(s):  
Disturbance Rejection ◽  
Fuzzy Neural Network ◽  
Variable Universe ◽  
Compound Control ◽  
Sensing Applications ◽  
Control Scheme ◽  
Fuzzy Neural ◽  
Remote Sensing Applications ◽  
Stabilized Platform ◽  
Inertially Stabilized Platform

An improved fuzzy neural network (FNN)/proportion integration differentiation (PID) compound control scheme based on variable universe and back-propagation (BP) algorithms is proposed to improve the ability of disturbance rejection of a three-axis inertially stabilized platform (ISP) for aerial remote sensing applications. In the design of improved FNN/PID compound controller, the variable universe method is firstly used for the design of the fuzzy/PID compound controller; then, the BP algorithm is utilized to finely tune the controller parameters online. In this way, the desired performances with good ability of disturbance rejection and high stabilization accuracy are obtained for the aerial ISP. The simulations and experiments are, respectively, carried out to validate the improved FNN/PID compound control method. The results show that the improved FNN/PID compound control scheme has the excellent capability in disturbance rejection, by which the ISP’s stabilization accuracy under dynamic disturbance is improved significantly.

scholarly journals A High-Precision Control Scheme Based on Active Disturbance Rejection Control for a Three-Axis Inertially Stabilized Platform for Aerial Remote Sensing Applications

2018 ◽  
Vol 2018 ◽  
pp. 1-9 ◽  
Author(s):  
Xiangyang Zhou ◽  
Chao Yang ◽  
Beilei Zhao ◽  
Libo Zhao ◽  
Zhuangsheng Zhu
Keyword(s):  
Disturbance Rejection ◽  
Precision Control ◽  
Sensing Applications ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Control Scheme ◽  
Remote Sensing Applications ◽  
Aerial Remote Sensing ◽  
Stabilized Platform ◽  
Inertially Stabilized Platform

This paper presents a high-precision control scheme based on active disturbance rejection control (ADRC) to improve the stabilization accuracy of an inertially stabilized platform (ISP) for aerial remote sensing applications. The ADRC controller is designed to suppress the effects of the disturbance on the stabilization accuracy that consists of a tracking differentiator, a nonlinear state error feedback, and an extended state observer. By the ADRC controller, the effects of both the internal uncertain dynamics and the external multisource disturbances on the system output are compensated as a total disturbance in real time. The disturbance rejection ability of the ADRC is analyzed by simulations. To verify the method, the experiments are conducted. The results show that compared with the conventional PID controller, the ADRC has excellent capability in disturbance rejection, by which the effect of main friction disturbance on the control system can be weakened seriously and the stabilization accuracy of the ISP is improved significantly.

scholarly journals Coupling Analysis and Cross-Feedback Control of Three-Axis Inertially Stabilized Platform with an Active Magnetic Bearing System

2020 ◽  
Vol 2020 ◽  
pp. 1-17
Author(s):  
Tong Wen ◽  
Biao Xiang ◽  
Waion Wong
Keyword(s):  
Feedback Control ◽  
Vibration Isolation ◽  
Base Plate ◽  
Magnetic Bearing ◽  
Active Magnetic Bearing ◽  
Single Input Single Output ◽  
Control Scheme ◽  
Amb System ◽  
Stabilized Platform ◽  
Inertially Stabilized Platform

An active magnetic bearing (AMB) system is used to suspend the yaw gimbal of three-axis inertially stabilized platform (ISP) to minimize the friction. The dynamic functions of three gimbals in ISP are developed. The base coupling at dynamic base plate is stronger than that at static base plate, and the gimbal coupling among three gimbals increases with the number of unlocked gimbals. Therefore, a cross-feedback control scheme is designed to minimize the base coupling and the gimbal coupling, and then the multi-input multioutput system of three-axis ISP with coupling terms is simplified into three decoupled single-input single-output systems. Experimental results verify that the yaw gimbal suspended by AMB system has better vibration isolation ability than the roll gimbal supported by mechanical bearing, and the gimbal coupling and the base coupling are effectively suppressed by the cross-feedback control scheme.

Modeling of an Inertially Stabilized Camera System Using Gimbal Platform

2016 ◽  
Author(s):  
Gary Haggart ◽  
Vidya K. Nandikolla ◽  
Ruting Jia
Keyword(s):  
Low Cost ◽  
System Stability ◽  
Motor Drive ◽  
Performance Limits ◽  
Camera System ◽  
Control Scheme ◽  
Selection For ◽  
And Performance ◽  
Stabilized Platform ◽  
Inertially Stabilized Platform

This paper develops a camera gimbal platform for stabilization and tracking purposes. The main focus of this research is analytical modeling of an inertially stabilized platform with the prediction of the angular stability. The mechanical model of the platform includes, moment of inertia, motor drive, and performance of the gyro to measure the disturbances of the platform. The gimbal/motor system is developed and simulated and feedback control scheme is designed to stabilize and maintain the line of sight (LOS) for tracking purposes. The model integrates a PI2 controller using a PID-I approach for the system stability. The effect of vibration induced disturbance in the system is investigated to simulate the realistic behavior of an inertially stabilized platform. The simulation results of the four types of commercial gyros are presented to calculate the required values for stability purposes. The results from the simulation generated the performance limits chart describing the working condition of the low cost sensors vs the high cost sensors. As the vibration level increased, the performance of the highest quality sensor greatly decreased. This verifies the value and necessity of modeling and simulating to understand the component trade studies to ensure correct sensor selection for the desired application.

scholarly journals Visual Tracking Control of Cable-Driven Hyper-Redundant Snake-Like Manipulator

2021 ◽  
Vol 11 (13) ◽  
pp. 6224
Author(s):  
Qisong Zhou ◽  
Jianzhong Tang ◽  
Yong Nie ◽  
Zheng Chen ◽  
Long Qin
Keyword(s):  
Visual Tracking ◽  
Tracking Control ◽  
Control Method ◽  
Adaptive Optimization ◽  
Tracking Errors ◽  
Kinematics Model ◽  
Compound Control ◽  
Original Intention ◽  
Control Scheme ◽  
Specific Geometry

The cable-driven hyper-redundant snake-like manipulator (CHSM) inspired by the biomimetic structure of vertebrate muscles and tendons, which consists of numerous joint units connected adjacently driven by elastic materials with hyper-redundant DOF, performs flexible kinematic skills and competitive compound capability under complicated working circumstances. Nevertheless, the drawback of lacking the ability to perceive the environment to perform intelligently in complex scenarios leaves a lot to be improved, which is the original intention to introduce visual tracking feedback acting as an instructor. In this paper, a cable-driven snake-like robotic arm combined with a visual tracking technique is introduced. A visual tracking approach based on dual correlation filter is designed to guide the CHSM in detecting the target and tracing after its trajectory. Specifically, it contains an adaptive optimization for the scale variation of the tracking target via pyramid sampling. For the CHSM, an explicit kinematics model is derived from its specific geometry relationships and followed by a simplification for the inverse kinematics based on some assumption or limitation. A control scheme is brought up to combine the kinematics with visual tracking via the processing tracking errors. The experimental results with a practical prototype validate the availability of the proposed compound control method with the derived kinematics model.

Stability analysis of adaptive control using fuzzy adapting rate neural emulator: Experimental validation on a thermal process

2021 ◽  
pp. 095965182098818
Author(s):  
Fatma Ezzahra Rhili ◽  
Asma Atig ◽  
Ridha Ben Abdennour ◽  
Fabrice Druaux ◽  
Dimitri Lefebvre
Keyword(s):  
Adaptive Control ◽  
Control Strategy ◽  
Thermal Process ◽  
Experimental Validation ◽  
Experimental Simulation ◽  
Neural Controller ◽  
Control Scheme ◽  
Stability Method ◽  
Indirect Adaptive Control ◽  
Adaptive Control Scheme

In this study, an adaptive control based on fuzzy adapting rate for neural emulator of nonlinear systems having unknown dynamics is proposed. The indirect adaptive control scheme is composed by the neural emulator and the neural controller which are connected by an autonomous algorithm inspired from the real-time recurrent learning. In order to ensure stability and faster convergence, a neural controller adapting rate is established in the sense of the continuous Lyapunov stability method. Numerical simulations are included to illustrate the effectiveness of the proposed method. The performance of the proposed control strategy is also demonstrated through an experimental simulation.

Sign in / Sign up

Export Citation Format

Share Document