Pub Date : 2011-12-01DOI: 10.1109/ICCIAUTOM.2011.6356729
M. Faieghi, H. Delavari, A. Jalali
We address the problem of chaos suppression in Lorenz system with a novel fractional-order controller. Our approach relies on Caputo's differintegration. Indeed, we introduce a new concept of sliding mode control based on Caputo's definition of fractional derivative. Accordingly, a novel nonlinear fractional-order sliding surface is designed. Then an appropriate control law is established on the surface. Stability of the closed-loop system is presented via rigorous analyses by means of Lyapunov direct method. An adaptation law is derived for the switching gain which allows us to ensure the stability of control system without necessity of knowing the upper bounds of uncertainties and disturbances. The proposed method is also verified by numerical simulations and is compared with conventional sliding mode control. It is shown that the proposed control algorithm outperforms conventional sliding mode by providing higher performance and smaller control input. The controller provides fulfilling performance, high robustness and chattering free control effort.
{"title":"Control of Lorenz system with a novel fractional controller: A Caputo's differintegration based approach","authors":"M. Faieghi, H. Delavari, A. Jalali","doi":"10.1109/ICCIAUTOM.2011.6356729","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2011.6356729","url":null,"abstract":"We address the problem of chaos suppression in Lorenz system with a novel fractional-order controller. Our approach relies on Caputo's differintegration. Indeed, we introduce a new concept of sliding mode control based on Caputo's definition of fractional derivative. Accordingly, a novel nonlinear fractional-order sliding surface is designed. Then an appropriate control law is established on the surface. Stability of the closed-loop system is presented via rigorous analyses by means of Lyapunov direct method. An adaptation law is derived for the switching gain which allows us to ensure the stability of control system without necessity of knowing the upper bounds of uncertainties and disturbances. The proposed method is also verified by numerical simulations and is compared with conventional sliding mode control. It is shown that the proposed control algorithm outperforms conventional sliding mode by providing higher performance and smaller control input. The controller provides fulfilling performance, high robustness and chattering free control effort.","PeriodicalId":438427,"journal":{"name":"The 2nd International Conference on Control, Instrumentation and Automation","volume":"278 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115421949","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-12-01DOI: 10.1109/ICCIAUTOM.2011.6356653
E. Ataei, R. Afshari, M. Pourmina, M. Karimian
Solar energy has been accepted as an alternative source of energy worldwide recently. Current researches and markets have shown that Solar Photovoltaic (PV) is the fastest growing and most promising form of renewable energy used in generating electricity. Solar energy is rapidly advancing as an important means of renewable energy resource. More energy is produced by tracking the solar panel to remain aligned to the sun at a right angle to the rays of light. This paper presents an intelligent sun tracking system in which photo-resistors (sensors) are used to determine the direction of the sunlight. The hardware structure of the system consists of a TMS320F2812 DSP chip. The solar cell is used as the power supply of the controlling system. Finally, an intelligent solar power plant is implemented by means of the techniques mentioned above.
{"title":"Design and construction of a fuzzy logic dual axis solar tracker based on DSP","authors":"E. Ataei, R. Afshari, M. Pourmina, M. Karimian","doi":"10.1109/ICCIAUTOM.2011.6356653","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2011.6356653","url":null,"abstract":"Solar energy has been accepted as an alternative source of energy worldwide recently. Current researches and markets have shown that Solar Photovoltaic (PV) is the fastest growing and most promising form of renewable energy used in generating electricity. Solar energy is rapidly advancing as an important means of renewable energy resource. More energy is produced by tracking the solar panel to remain aligned to the sun at a right angle to the rays of light. This paper presents an intelligent sun tracking system in which photo-resistors (sensors) are used to determine the direction of the sunlight. The hardware structure of the system consists of a TMS320F2812 DSP chip. The solar cell is used as the power supply of the controlling system. Finally, an intelligent solar power plant is implemented by means of the techniques mentioned above.","PeriodicalId":438427,"journal":{"name":"The 2nd International Conference on Control, Instrumentation and Automation","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121049409","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-12-01DOI: 10.1109/ICCIAUTOM.2011.6356825
M. Sadeghi, Shokoufeh Sadat Valadie Some Saraie, A. Mahdeian
In any industry, quality control is an essential and inevitable part of process. Defect detection in steel plates, is one of the most important quality control steps in steel process. Image processing is a dominant technique to recognize defect in steel plates. In this paper a fast and precise solution for detection of this type of defects by using 2D wavelet is introduced. The result show considerable improvement and Precision and speed of this suggested approach is compared to the previous methods.
{"title":"Application of two dimensional wavelet for defect detection in steel process","authors":"M. Sadeghi, Shokoufeh Sadat Valadie Some Saraie, A. Mahdeian","doi":"10.1109/ICCIAUTOM.2011.6356825","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2011.6356825","url":null,"abstract":"In any industry, quality control is an essential and inevitable part of process. Defect detection in steel plates, is one of the most important quality control steps in steel process. Image processing is a dominant technique to recognize defect in steel plates. In this paper a fast and precise solution for detection of this type of defects by using 2D wavelet is introduced. The result show considerable improvement and Precision and speed of this suggested approach is compared to the previous methods.","PeriodicalId":438427,"journal":{"name":"The 2nd International Conference on Control, Instrumentation and Automation","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122537220","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-12-01DOI: 10.1109/ICCIAUTOM.2011.6356636
Y. Rasekhipour, A. Ohadi
Ride comfort is one of the main indexes of a comfortable vehicle, and engine mounts play an undeniable role in it. In this paper, a simplified model of an engine system is expressed to evaluate the performance of a semi-active MagnetoRheological (MR) engine mount and compare it with that of the passive Hydraulic Engine Mount (HEM) on which engine is originally mounted, to investigate if it is advantageous to be used in engine system instead of the HEM. Two methods are used to control the semi-active system including skyhook and robust μ-synthesis. It is attempted to improve two performance cases via the controlled MR engine mount: to reduce the force transmitted to the chassis initiating from engine forces, and to control the relative displacement of engine mount from road excitation. Considerable improvement is achieved over the HEM by applying the MR mount.
{"title":"Evaluating vibration performance of a semi-active MR engine mount","authors":"Y. Rasekhipour, A. Ohadi","doi":"10.1109/ICCIAUTOM.2011.6356636","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2011.6356636","url":null,"abstract":"Ride comfort is one of the main indexes of a comfortable vehicle, and engine mounts play an undeniable role in it. In this paper, a simplified model of an engine system is expressed to evaluate the performance of a semi-active MagnetoRheological (MR) engine mount and compare it with that of the passive Hydraulic Engine Mount (HEM) on which engine is originally mounted, to investigate if it is advantageous to be used in engine system instead of the HEM. Two methods are used to control the semi-active system including skyhook and robust μ-synthesis. It is attempted to improve two performance cases via the controlled MR engine mount: to reduce the force transmitted to the chassis initiating from engine forces, and to control the relative displacement of engine mount from road excitation. Considerable improvement is achieved over the HEM by applying the MR mount.","PeriodicalId":438427,"journal":{"name":"The 2nd International Conference on Control, Instrumentation and Automation","volume":"617 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123809803","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-12-01DOI: 10.1109/ICCIAUTOM.2011.6356709
P. Hajiani, J. Poshtan
While most research attention has been focused on fault detection and diagnosis, much less research effort has been devoted to failure accommodation. In this paper an active model based fault tolerant control system in case of major actuators failure is designed for a four-tank system benchmark and is simulated with the nonlinear model using Matlab. The four-tank system is regarded as a valuable experimental setup for investigating nonlinear multivariable feedback control as well as fault diagnosis. The faults are actuator faults that are modeled as a fall in actuators (pumps) gains which could lead to a large loss in the nominal performance. The fault tolerant controller is using an online parameter estimator as an FDD subsystem and an adaptive eigenstructure assignment state feedback controller as a reconfigurable controller. Simulation results are shown and compared with a non-fault-tolerant controller. The simulation results show promising performance increase due to the designed controller.
{"title":"Fault-tolerant tracking control for a four-tank system benchmark via eigenstructure assignment and parameter estimation","authors":"P. Hajiani, J. Poshtan","doi":"10.1109/ICCIAUTOM.2011.6356709","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2011.6356709","url":null,"abstract":"While most research attention has been focused on fault detection and diagnosis, much less research effort has been devoted to failure accommodation. In this paper an active model based fault tolerant control system in case of major actuators failure is designed for a four-tank system benchmark and is simulated with the nonlinear model using Matlab. The four-tank system is regarded as a valuable experimental setup for investigating nonlinear multivariable feedback control as well as fault diagnosis. The faults are actuator faults that are modeled as a fall in actuators (pumps) gains which could lead to a large loss in the nominal performance. The fault tolerant controller is using an online parameter estimator as an FDD subsystem and an adaptive eigenstructure assignment state feedback controller as a reconfigurable controller. Simulation results are shown and compared with a non-fault-tolerant controller. The simulation results show promising performance increase due to the designed controller.","PeriodicalId":438427,"journal":{"name":"The 2nd International Conference on Control, Instrumentation and Automation","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126270052","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-12-01DOI: 10.1109/ICCIAUTOM.2011.6356826
M. Shahiri, A. R. Noey, Reza Ghaderi, Mohammad Reza Karami
An exact knowledge of delay is crucial to control and synchronize a time-delayed system. In this paper, a least square based so-called Vector Fitting method is developed to identify parameters of a time-delayed system. The Vector Fitting (V.F.) algorithm efficiently directs evolution of parameters of a model towards their optimal values, iteratively. During each iteration poles of the model are calculated and replaced as starting poles for the next generation. The proposed algorithm is then combined with a heuristic optimization method, i.e. Particle Swarm Optimization (PSO) to provide a hybrid technique, leading to identify delay time (r) of the system. The hybrid algorithm works in two stages; primarily the delay parameter is estimated using particle swarm optimization. The Vector fitting algorithm identifies the remaining parameters in the second stage. These two stages will be performed iteratively until the termination criterion is reached. Illustrative cases especially in presence of white noisy data are given to show the validity and the significance of the proposed method.
{"title":"A hybrid particle swarm optimization and vector fitting based identification algorithm in a time-delayed systems","authors":"M. Shahiri, A. R. Noey, Reza Ghaderi, Mohammad Reza Karami","doi":"10.1109/ICCIAUTOM.2011.6356826","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2011.6356826","url":null,"abstract":"An exact knowledge of delay is crucial to control and synchronize a time-delayed system. In this paper, a least square based so-called Vector Fitting method is developed to identify parameters of a time-delayed system. The Vector Fitting (V.F.) algorithm efficiently directs evolution of parameters of a model towards their optimal values, iteratively. During each iteration poles of the model are calculated and replaced as starting poles for the next generation. The proposed algorithm is then combined with a heuristic optimization method, i.e. Particle Swarm Optimization (PSO) to provide a hybrid technique, leading to identify delay time (r) of the system. The hybrid algorithm works in two stages; primarily the delay parameter is estimated using particle swarm optimization. The Vector fitting algorithm identifies the remaining parameters in the second stage. These two stages will be performed iteratively until the termination criterion is reached. Illustrative cases especially in presence of white noisy data are given to show the validity and the significance of the proposed method.","PeriodicalId":438427,"journal":{"name":"The 2nd International Conference on Control, Instrumentation and Automation","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125881272","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-12-01DOI: 10.1109/ICCIAUTOM.2011.6356763
A. Ghafari, A. Ghanbari, S. Kamanzadeh, K. Abbasian, H. Saghir
This paper introduces a novel approach for measuring low pressures based on MEMS technology. In this technique the mechanism of squeeze film damping is used. A voltage is applied to a fixed-fixed MEMS beam and its step response is obtained; for each pressure there is a different response. Then the settling time is measured and we can relate each settling time with a defined pressure. Here, first we use some equations to relate pressure with the squeeze film damping effect; after that we use a micro beam model and relate its parameters with pressure. Then we use numerical analysis and simulation to show the procedure of pressure measuring. All simulation results are shown and discussed.
{"title":"Developing a new pressure measurement mechanism based on squeeze film damping effect","authors":"A. Ghafari, A. Ghanbari, S. Kamanzadeh, K. Abbasian, H. Saghir","doi":"10.1109/ICCIAUTOM.2011.6356763","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2011.6356763","url":null,"abstract":"This paper introduces a novel approach for measuring low pressures based on MEMS technology. In this technique the mechanism of squeeze film damping is used. A voltage is applied to a fixed-fixed MEMS beam and its step response is obtained; for each pressure there is a different response. Then the settling time is measured and we can relate each settling time with a defined pressure. Here, first we use some equations to relate pressure with the squeeze film damping effect; after that we use a micro beam model and relate its parameters with pressure. Then we use numerical analysis and simulation to show the procedure of pressure measuring. All simulation results are shown and discussed.","PeriodicalId":438427,"journal":{"name":"The 2nd International Conference on Control, Instrumentation and Automation","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129289465","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-12-01DOI: 10.1109/ICCIAUTOM.2011.6356711
Saleh Mobayen, V. J. Majd, M. H. Asemani
The objective of this paper is to combine the composite nonlinear feedback and integral sliding mode strategies for fast and accurate robust tracking of a class of linear systems subject to uncertainties. In fact, the theory of integral sliding mode-based composite nonlinear feedback method is presented such that the resulting controlled output would track a target reference as fast as possible with small overshoot and without any steady state bias. The proposed control method retains the actual structure of composite nonlinear feedback controller in following the reference trajectory within a given accuracy and the invariance property of integral sliding mode method in rejecting disturbances and at the same time preserves the stability of the whole system. Also, a collection of nonlinear functions in different forms are studied to improve the reference tracking performance of the system. Simulation results show that the control law designed by this approach yields excellent performance.
{"title":"Selection of nonlinear function in integral sliding mode-based composite nonlinear feedback method for transient improvement of uncertain linear systems","authors":"Saleh Mobayen, V. J. Majd, M. H. Asemani","doi":"10.1109/ICCIAUTOM.2011.6356711","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2011.6356711","url":null,"abstract":"The objective of this paper is to combine the composite nonlinear feedback and integral sliding mode strategies for fast and accurate robust tracking of a class of linear systems subject to uncertainties. In fact, the theory of integral sliding mode-based composite nonlinear feedback method is presented such that the resulting controlled output would track a target reference as fast as possible with small overshoot and without any steady state bias. The proposed control method retains the actual structure of composite nonlinear feedback controller in following the reference trajectory within a given accuracy and the invariance property of integral sliding mode method in rejecting disturbances and at the same time preserves the stability of the whole system. Also, a collection of nonlinear functions in different forms are studied to improve the reference tracking performance of the system. Simulation results show that the control law designed by this approach yields excellent performance.","PeriodicalId":438427,"journal":{"name":"The 2nd International Conference on Control, Instrumentation and Automation","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121810048","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-12-01DOI: 10.1109/ICCIAUTOM.2011.6356812
M. M. Naserimojarad, A. Tadayoninejad, M. Eghtesad
Nowadays MR dampers are used widely in vibration isolation and motion control applications. These actuators had lots of advantages in comparison to old shock absorbers such as controllability and adaption to vibrations with variable frequencies. One major problem of MR dampers which limits their performance in high frequency vibration applications is dullness and high response time. This dullness is caused by electrical circuit and mechanical delays. In this paper a theoretical and experimental investigation has been done to reduce electrical response time of MR dampers. Different solutions for driving MR dampers have been analyzed. An extra fast method for charging and discharging MR damper is proposed in this paper. The suggested method has been tested on a prototype MR damper. The experimental results are compared with simulation results and other current control methods. The proposed method can reduce response time of MR dampers from a few milliseconds to a few micro seconds.
{"title":"An innovative design of fast current controller circuit for MR dampers","authors":"M. M. Naserimojarad, A. Tadayoninejad, M. Eghtesad","doi":"10.1109/ICCIAUTOM.2011.6356812","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2011.6356812","url":null,"abstract":"Nowadays MR dampers are used widely in vibration isolation and motion control applications. These actuators had lots of advantages in comparison to old shock absorbers such as controllability and adaption to vibrations with variable frequencies. One major problem of MR dampers which limits their performance in high frequency vibration applications is dullness and high response time. This dullness is caused by electrical circuit and mechanical delays. In this paper a theoretical and experimental investigation has been done to reduce electrical response time of MR dampers. Different solutions for driving MR dampers have been analyzed. An extra fast method for charging and discharging MR damper is proposed in this paper. The suggested method has been tested on a prototype MR damper. The experimental results are compared with simulation results and other current control methods. The proposed method can reduce response time of MR dampers from a few milliseconds to a few micro seconds.","PeriodicalId":438427,"journal":{"name":"The 2nd International Conference on Control, Instrumentation and Automation","volume":"112 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116179618","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-12-01DOI: 10.1109/ICCIAUTOM.2011.6356743
M. Kabganian, R. Nadafi, Y. Tamhidi, Mostafa Bagheri
A novel simulator of satellite ADCS (Attitude Determination and Control System) was designed in the system dynamics and control research laboratory of Amirkabir University of Technology. Currently industrial models of ADCS are using air bearings to make the system suspended. A prototype was designed with ball bearings and three gimbals to provide three rotational DOFs. We believe that the advantages of our method are that is cost efficiency, improved the accuracy and performance; however, the model uses a high level algorithm for friction compensation. The attitude accuracy of the system is nearly 5 degrees. The goal of this project is tracking and control of the ADCS in conditions in which the friction torque of the ball bearings in gimbals has been compensated. The controller that was implemented in this system uses a nonlinear model based on adaptive control. First, feedback linearization is used to cancel the nonlinearities which then was modified by an adaptive control using a Lyapunov function to estimate the uncertainties such as moments of inertia, eccentricity of the center of mass, and friction. The friction model includes Stribeck, viscous, and Coulumb terms. High level estimators and identifiers are used for estimation and identification of friction model parameters. Finally, the controllers were validated by simulation results.
{"title":"A novel mechanical attitude simulator with adaptive control for micro-satellite","authors":"M. Kabganian, R. Nadafi, Y. Tamhidi, Mostafa Bagheri","doi":"10.1109/ICCIAUTOM.2011.6356743","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2011.6356743","url":null,"abstract":"A novel simulator of satellite ADCS (Attitude Determination and Control System) was designed in the system dynamics and control research laboratory of Amirkabir University of Technology. Currently industrial models of ADCS are using air bearings to make the system suspended. A prototype was designed with ball bearings and three gimbals to provide three rotational DOFs. We believe that the advantages of our method are that is cost efficiency, improved the accuracy and performance; however, the model uses a high level algorithm for friction compensation. The attitude accuracy of the system is nearly 5 degrees. The goal of this project is tracking and control of the ADCS in conditions in which the friction torque of the ball bearings in gimbals has been compensated. The controller that was implemented in this system uses a nonlinear model based on adaptive control. First, feedback linearization is used to cancel the nonlinearities which then was modified by an adaptive control using a Lyapunov function to estimate the uncertainties such as moments of inertia, eccentricity of the center of mass, and friction. The friction model includes Stribeck, viscous, and Coulumb terms. High level estimators and identifiers are used for estimation and identification of friction model parameters. Finally, the controllers were validated by simulation results.","PeriodicalId":438427,"journal":{"name":"The 2nd International Conference on Control, Instrumentation and Automation","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127554439","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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