scholarly journals Nonlinear Feedback Controller Design Based on a Geometric Consideration in the Phase Plane Behavior for Single Input Nonlinear System

2013 ◽  
Vol 49 (10) ◽  
pp. 944-951
Author(s):  
Hiroshi SUZUKI ◽  
Kazuma SEKIGUCHI ◽  
Mitsuji SAMPEI
Keyword(s):  
Nonlinear System ◽  
Phase Plane ◽  
Controller Design ◽  
Feedback Controller ◽  
Nonlinear Feedback ◽  
Geometric Consideration ◽  
Single Input ◽  
Input Nonlinear System

Adaptive Nonlinear Synchronization Control of Twin-Gyro Precession

2005 ◽  
Vol 128 (3) ◽  
pp. 592-599 ◽  
Author(s):  
Di Zhou ◽  
Tielong Shen ◽  
Katsutoshi Tamura
Keyword(s):  
Motion Control ◽  
Feedback Linearization ◽  
Controller Design ◽  
Open Loop ◽  
Feedback Controller ◽  
Nonlinear Feedback ◽  
Nonlinear Controller ◽  
Control Moment ◽  
Command Signals ◽  
Control Moment Gyro

The slewing motion of a truss arm driven by a V-gimbaled control-moment gyro is studied. The V-gimbaled control-moment gyro consists of a pair of gyros that must precess synchronously. For open-loop slewing motion control, the controller design problem is simplified into finding a feedback controller to steer the two gyros to synchronously track a specific command. To improve the synchronization performance, the integral of synchronization error is introduced into the design as an additional state variable. Based on the second method of Lyapunov, an adaptive nonlinear feedback controller is designed. For more accurate but complicated closed-loop slewing motion control, the feedback linearization technique is utilized to partially linearize the nonlinear nominal model, where two specific output functions are chosen to satisfy the system tracking and synchronization requirements. The system tracking dynamics are bounded by properly determining system indices and command signals. For the partially linearized system, the backstepping tuning function design approach is employed to design an adaptive nonlinear controller. The dynamic order of the adaptive controller is reduced to its minimum. The performance of the proposed controllers is verified by simulation.

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