Nonlinear State Dependent Sliding Sector Control of Gimbal Systems

IF 0.6 4区 工程技术 Q4 MECHANICS Mechanika Pub Date : 2022-10-21 DOI:10.5755/j02.mech.31210
B. E. Birinci, Özkan Özkan, M. U. Salamci
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Abstract

Sliding Sector Control (SSC) design method for nonlinear systems is proposed in such a way that the system trajectories are kept around a nonlinear sliding surface which is surrounded by a nonlinear sliding sector. The SSC for the nonlinear system is derived so that the system trajectories are enforced to stay inside the sliding sector for tracking requirements. State-Dependent Differential Riccati Equations (SDDRE) are solved to design the nonlinear sliding surface for the nonlinear dynamical system. Within this context, SSC having nonlinear(or state-dependent) sliding surfaces are used to have a viable solution for the problem formulation. The evolving solutions of the Differential Riccati Equations are used to create the sliding surface which is kept inside the designed sliding sector so that the stability of the nonlinear system is ensured. The proposed SSC method is experimentally tested by applying it to an inner axis of a two axes gimbal system.
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Gimbal系统的非线性状态相关滑动扇区控制
提出了一种非线性系统的滑动扇区控制(SSC)设计方法,使系统轨迹保持在由非线性滑动扇区包围的非线性滑动表面周围。推导了非线性系统的SSC,以便强制系统轨迹保持在滑动扇区内以满足跟踪要求。求解状态相关微分Riccati方程(SDDRE),设计非线性动力系统的非线性滑动面。在这种情况下,具有非线性(或状态相关)滑动面的SSC被用来为问题公式提供可行的解决方案。微分Riccati方程的演化解用于创建保持在设计滑动扇区内的滑动面,从而确保非线性系统的稳定性。将所提出的SSC方法应用于双轴万向节系统的内轴进行了实验测试。
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来源期刊
Mechanika
Mechanika 物理-力学
CiteScore
1.30
自引率
0.00%
发文量
50
审稿时长
3 months
期刊介绍: The journal is publishing scientific papers dealing with the following problems: Mechanics of Solid Bodies; Mechanics of Fluids and Gases; Dynamics of Mechanical Systems; Design and Optimization of Mechanical Systems; Mechanical Technologies.
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