Pub Date : 2018-08-01DOI: 10.1109/GNCC42960.2018.9018924
Wanli Zhao, Yingqing Guo, Chenyang Lai
In this paper, based on the multiple-model (MM) approach, a sensor fault diagnosis strategy is proposed for aero engines. The aeroengine corresponding Kalman filter bank was designed. The hypothesis test algorithm is used to find the probability of each mode, and then the sensor fault is detected and isolated based on the criterion of maximum probability. In addition, for multi-sensor fault diagnosis and estimation, a hierarchical architecture approach is used to achieve, thereby reducing the number of models and increasing the speed of calculation. In the simulation environment, the proposed multi-model method was used to study the fault diagnosis and estimation of a certain turbofan engine sensor. Simulation results show that the proposed multi-model method can effectively achieve sensor fault diagnosis and has good robustness.
{"title":"Sensor Fault Diagnosis and Estimation Based on Multiple-Model Approach for Aeroengine","authors":"Wanli Zhao, Yingqing Guo, Chenyang Lai","doi":"10.1109/GNCC42960.2018.9018924","DOIUrl":"https://doi.org/10.1109/GNCC42960.2018.9018924","url":null,"abstract":"In this paper, based on the multiple-model (MM) approach, a sensor fault diagnosis strategy is proposed for aero engines. The aeroengine corresponding Kalman filter bank was designed. The hypothesis test algorithm is used to find the probability of each mode, and then the sensor fault is detected and isolated based on the criterion of maximum probability. In addition, for multi-sensor fault diagnosis and estimation, a hierarchical architecture approach is used to achieve, thereby reducing the number of models and increasing the speed of calculation. In the simulation environment, the proposed multi-model method was used to study the fault diagnosis and estimation of a certain turbofan engine sensor. Simulation results show that the proposed multi-model method can effectively achieve sensor fault diagnosis and has good robustness.","PeriodicalId":6623,"journal":{"name":"2018 IEEE CSAA Guidance, Navigation and Control Conference (CGNCC)","volume":"59 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76286753","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 : 2018-08-01DOI: 10.1109/GNCC42960.2018.9019153
Shuangii Feng, Ming Li, Chengzhi Gao, Xiaoguang Zhang, Yanshun Zhang
The satellite signal tracking module is an important component of Beidou receiver which has a direct effect on receiver positioning accuracy and dynamic performance. Based on the analysis of the signal model in tracking loops of receiver, the frequency discrimination and phase discrimination methods are determined via simulations. Considering the different order of incentive compositions contained in the received Beidou signal caused by the relative motion between receiver antenna and satellite, the carrier loop filter based on the third-order Phase Locked Loop (PLL) with second-order Frequency Locked Loop (FLL) assist and the second-order code loop filter are designed to solve the poor tracking accuracy of low-order tracking loops under high-order dynamic stress. Finally, the performance of signal tracking algorithm applied in Beidou receiver is evaluated through the data generated by Beidou satellite simulator. The pseudo-range single point positioning results indicate that the signal tracking algorithm presented in this paper can meet the dynamic requirements as well as get higher tracking accuracy.
{"title":"The Tracking Algorithm Analysis and Simulations for BeiDou B1 Signal*","authors":"Shuangii Feng, Ming Li, Chengzhi Gao, Xiaoguang Zhang, Yanshun Zhang","doi":"10.1109/GNCC42960.2018.9019153","DOIUrl":"https://doi.org/10.1109/GNCC42960.2018.9019153","url":null,"abstract":"The satellite signal tracking module is an important component of Beidou receiver which has a direct effect on receiver positioning accuracy and dynamic performance. Based on the analysis of the signal model in tracking loops of receiver, the frequency discrimination and phase discrimination methods are determined via simulations. Considering the different order of incentive compositions contained in the received Beidou signal caused by the relative motion between receiver antenna and satellite, the carrier loop filter based on the third-order Phase Locked Loop (PLL) with second-order Frequency Locked Loop (FLL) assist and the second-order code loop filter are designed to solve the poor tracking accuracy of low-order tracking loops under high-order dynamic stress. Finally, the performance of signal tracking algorithm applied in Beidou receiver is evaluated through the data generated by Beidou satellite simulator. The pseudo-range single point positioning results indicate that the signal tracking algorithm presented in this paper can meet the dynamic requirements as well as get higher tracking accuracy.","PeriodicalId":6623,"journal":{"name":"2018 IEEE CSAA Guidance, Navigation and Control Conference (CGNCC)","volume":"65 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79522992","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 : 2018-08-01DOI: 10.1109/GNCC42960.2018.9019035
Shuailei Wang, Shaolei Zhou, S. Yan
This paper investigates a target tracking algorithm with time delay based on flocking control. In the system, there exist two types of agents and one moving target. Agents of type I track the target, and agents of type II follow the former. These agents are controlled with a kind of second-order differential equations, and different control inputs are proposed for these agents. The control inputs contain the position and velocity of the agents. Stability analysis is presented by constructing a Lyapunov-Krasovskii function and its derivate. Asymptotical stability condition is derived for the second order system with hybrid agents. Simulation results show that stable flocking is achieved.
{"title":"Target Tracking Algorithm with Time Delay Based on Flocking Control with Two Types of Agents","authors":"Shuailei Wang, Shaolei Zhou, S. Yan","doi":"10.1109/GNCC42960.2018.9019035","DOIUrl":"https://doi.org/10.1109/GNCC42960.2018.9019035","url":null,"abstract":"This paper investigates a target tracking algorithm with time delay based on flocking control. In the system, there exist two types of agents and one moving target. Agents of type I track the target, and agents of type II follow the former. These agents are controlled with a kind of second-order differential equations, and different control inputs are proposed for these agents. The control inputs contain the position and velocity of the agents. Stability analysis is presented by constructing a Lyapunov-Krasovskii function and its derivate. Asymptotical stability condition is derived for the second order system with hybrid agents. Simulation results show that stable flocking is achieved.","PeriodicalId":6623,"journal":{"name":"2018 IEEE CSAA Guidance, Navigation and Control Conference (CGNCC)","volume":"9 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84153451","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 : 2018-08-01DOI: 10.1109/GNCC42960.2018.9019021
Mengqian Liu, Xiwang Dong, Qingdong Li, Z. Ren
In this paper, a model reference control method based on RBF neural networks is applied to attitude control of quadrotor. The model of a quadrotor is constructed and simplified to obtain the reference model in the same order as the plant. The RBF is trained by using the gradient descent method. Through simulation experiments, MRAC based on RBF has presented good tracking performance on the nonlinear quadrotor system with unknown and changing parameters.
{"title":"Model Reference Adaptive Control of a Quadrotor UAV based on RBF Neural Networks","authors":"Mengqian Liu, Xiwang Dong, Qingdong Li, Z. Ren","doi":"10.1109/GNCC42960.2018.9019021","DOIUrl":"https://doi.org/10.1109/GNCC42960.2018.9019021","url":null,"abstract":"In this paper, a model reference control method based on RBF neural networks is applied to attitude control of quadrotor. The model of a quadrotor is constructed and simplified to obtain the reference model in the same order as the plant. The RBF is trained by using the gradient descent method. Through simulation experiments, MRAC based on RBF has presented good tracking performance on the nonlinear quadrotor system with unknown and changing parameters.","PeriodicalId":6623,"journal":{"name":"2018 IEEE CSAA Guidance, Navigation and Control Conference (CGNCC)","volume":"39 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84159225","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 : 2018-08-01DOI: 10.1109/GNCC42960.2018.9019132
Nan Liu, Yong-mei Cheng, Huaxia Wang
This paper presents an image enhancement technique to remove haze contained in an outdoor image based on the depth information estimated from dark channel and edge components. Dark channel prior (DCP) refers to a statistical observation that the pixels of a non-sky image patch in a haze-free outdoor image tend to show very low intensity in at least one of three color channels. Many existing DCP-based image dehazing methods attempt to estimate a transmission map, rather than the depth from the camera to the objects in the scene, which is optimized with a soft matting function to remove haze. The resulting dehazed images often suffer from halo artifacts due to depth discontinuity between near and far objects in the scene. The haze-removal effect on far objects can also be limited. The proposed image dehazing method estimates the depth information using the amount of haze measured by the DCP and the edge components of the objects since near objects are likely less affected by haze and therefore reveal stronger edge information. The estimated depth discontinuity is used to adjust the soft matting function to obtain more accurate transmission map and therefore enhanced dehazing effect. Experiment results show that the proposed dehazing method is effective to retain more image details preserved in the dehazed image with no halo artifact.
{"title":"Adaptive Image Dehazing with Dark Channel Prior and Edge Components","authors":"Nan Liu, Yong-mei Cheng, Huaxia Wang","doi":"10.1109/GNCC42960.2018.9019132","DOIUrl":"https://doi.org/10.1109/GNCC42960.2018.9019132","url":null,"abstract":"This paper presents an image enhancement technique to remove haze contained in an outdoor image based on the depth information estimated from dark channel and edge components. Dark channel prior (DCP) refers to a statistical observation that the pixels of a non-sky image patch in a haze-free outdoor image tend to show very low intensity in at least one of three color channels. Many existing DCP-based image dehazing methods attempt to estimate a transmission map, rather than the depth from the camera to the objects in the scene, which is optimized with a soft matting function to remove haze. The resulting dehazed images often suffer from halo artifacts due to depth discontinuity between near and far objects in the scene. The haze-removal effect on far objects can also be limited. The proposed image dehazing method estimates the depth information using the amount of haze measured by the DCP and the edge components of the objects since near objects are likely less affected by haze and therefore reveal stronger edge information. The estimated depth discontinuity is used to adjust the soft matting function to obtain more accurate transmission map and therefore enhanced dehazing effect. Experiment results show that the proposed dehazing method is effective to retain more image details preserved in the dehazed image with no halo artifact.","PeriodicalId":6623,"journal":{"name":"2018 IEEE CSAA Guidance, Navigation and Control Conference (CGNCC)","volume":"15 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78516657","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 : 2018-08-01DOI: 10.1109/GNCC42960.2018.9018983
Ma Zhenyu, Zhuang Xiaoping, Zhou Zhou
To solve the taxiing control problem under lack of nose wheel steering system and rudder, a control approach which uses differential propeller thrust to control taxiing is proposed, with full-wing solar-powered UAV (FSUAV) as the research model. This study gives the taxiing mathematical model of FSUAV and designs a taxiing controller based on linear active disturbance rejection control method (LADRC). Simulations are conducted to demonstrate the effectiveness and robustness of the designed controller and compare with PID controller.
{"title":"Taxiing Control of Full-wing Solar-powered UAV by Using Differential Propeller Thrust","authors":"Ma Zhenyu, Zhuang Xiaoping, Zhou Zhou","doi":"10.1109/GNCC42960.2018.9018983","DOIUrl":"https://doi.org/10.1109/GNCC42960.2018.9018983","url":null,"abstract":"To solve the taxiing control problem under lack of nose wheel steering system and rudder, a control approach which uses differential propeller thrust to control taxiing is proposed, with full-wing solar-powered UAV (FSUAV) as the research model. This study gives the taxiing mathematical model of FSUAV and designs a taxiing controller based on linear active disturbance rejection control method (LADRC). Simulations are conducted to demonstrate the effectiveness and robustness of the designed controller and compare with PID controller.","PeriodicalId":6623,"journal":{"name":"2018 IEEE CSAA Guidance, Navigation and Control Conference (CGNCC)","volume":"46 1","pages":"1-5"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78008133","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 : 2018-08-01DOI: 10.1109/GNCC42960.2018.9018972
Yingrong Yu, Siting Peng, Qingdong Li, Xiwang Dong, Z. Ren
Unmanned Aerial Vehicles (UAVs), when used in a formation setting, can be more advantageous. The concerted operation of UAV formations has many potential applications, such as cooperative reconnaissance, formation combat and search and rescue in mountainous regions. Nevertheless, modern navigation systems for UAVs are not able to guarantee the precision of pose estimation when GPS is unavailable in complex environment. The IMU drifts of navigation systems can cause poor calculation accuracy of position, velocity and attitude of all UAVs in the group within dozens of seconds. To solve this problem, this paper puts forward a new cooperative navigation method based on adaptive Cubature Kalman Filter which shares the relative observations between the UAVs and fuses these data with direct measurements from IMU to obtain better navigation performance. The simulation results demonstrate the validity of the proposed method.
{"title":"Cooperative Navigation Method Based on Adaptive CKF for UAVs In GPS Denied Areas","authors":"Yingrong Yu, Siting Peng, Qingdong Li, Xiwang Dong, Z. Ren","doi":"10.1109/GNCC42960.2018.9018972","DOIUrl":"https://doi.org/10.1109/GNCC42960.2018.9018972","url":null,"abstract":"Unmanned Aerial Vehicles (UAVs), when used in a formation setting, can be more advantageous. The concerted operation of UAV formations has many potential applications, such as cooperative reconnaissance, formation combat and search and rescue in mountainous regions. Nevertheless, modern navigation systems for UAVs are not able to guarantee the precision of pose estimation when GPS is unavailable in complex environment. The IMU drifts of navigation systems can cause poor calculation accuracy of position, velocity and attitude of all UAVs in the group within dozens of seconds. To solve this problem, this paper puts forward a new cooperative navigation method based on adaptive Cubature Kalman Filter which shares the relative observations between the UAVs and fuses these data with direct measurements from IMU to obtain better navigation performance. The simulation results demonstrate the validity of the proposed method.","PeriodicalId":6623,"journal":{"name":"2018 IEEE CSAA Guidance, Navigation and Control Conference (CGNCC)","volume":"49 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76790452","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 : 2018-08-01DOI: 10.1109/GNCC42960.2018.9019056
Xin Cai, D. Yuan, Jianguo Yan, Y. Qu
A novel hardware-in-loop (HIL) ground experiment system is proposed in this paper where the corresponding movement of drogue under external interference can be realized according to the digital simulation results obtained from Matlab. The whole system is composed of simulation subsystem modeled by multi-rigid-body dynamics, two-dimensional moveable platform, human-machine interface and motion control system. Data stream from Matlab to industrial computer is transferred by ethernet with UDP protocal and PCI–1245E is employed to transform position data to impulse signals for the sake of driving the servomotor. Experimental results manifest that effectiveness of hardware-in-loop ground experiment system where accurate motion of drogue in relation to simulation results can be achieved with high real-time performance.
{"title":"Hardware-in-loop Simulation System for the Disturbed Movement of Hose-drogue During Aerial Refueling","authors":"Xin Cai, D. Yuan, Jianguo Yan, Y. Qu","doi":"10.1109/GNCC42960.2018.9019056","DOIUrl":"https://doi.org/10.1109/GNCC42960.2018.9019056","url":null,"abstract":"A novel hardware-in-loop (HIL) ground experiment system is proposed in this paper where the corresponding movement of drogue under external interference can be realized according to the digital simulation results obtained from Matlab. The whole system is composed of simulation subsystem modeled by multi-rigid-body dynamics, two-dimensional moveable platform, human-machine interface and motion control system. Data stream from Matlab to industrial computer is transferred by ethernet with UDP protocal and PCI–1245E is employed to transform position data to impulse signals for the sake of driving the servomotor. Experimental results manifest that effectiveness of hardware-in-loop ground experiment system where accurate motion of drogue in relation to simulation results can be achieved with high real-time performance.","PeriodicalId":6623,"journal":{"name":"2018 IEEE CSAA Guidance, Navigation and Control Conference (CGNCC)","volume":"3 1","pages":"1-5"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"81344456","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 : 2018-08-01DOI: 10.1109/GNCC42960.2018.9018921
Yan Cao, Yin Wang, Hongyi Song, Qiang Li, Hui Zhang
By the introduction of advancing blade concept rotor system, the compound high-speed helicopters become a hot research topic in recent years. Due to the novel coaxial rotor and propeller structure of the compound helicopter, the aerodynamic coupling effect between the coaxial rotor and the fuselage has strong influence to the overall performance of the helicopter at low flying speed. In order to accommodate this problem, this paper presents a novel{unidirectional auxiliary surface sliding mode control method for the attitude control of compound helicopters. In the proposed work, the flight dynamics of the novel structured compound helicopter are firstly introduced. Then, expanding the positive invariant sets with 6 unidirectional auxiliary surfaces and an exponential approaching law and a terminal attractor are incorporated into the framework so as to increase the convergence speed and ensure the state error converges within finite time. The stability of the newly developed algorithm is analyzed through the Lyapunov approach. Comparative simulation results have demonstrated that the proposed method is capable of tracking attitude commands and shown strong robustness to the uncertainties.
{"title":"The Unidirectional Auxiliary Surface Sliding Mode Control for Compound High-speed Helicopter","authors":"Yan Cao, Yin Wang, Hongyi Song, Qiang Li, Hui Zhang","doi":"10.1109/GNCC42960.2018.9018921","DOIUrl":"https://doi.org/10.1109/GNCC42960.2018.9018921","url":null,"abstract":"By the introduction of advancing blade concept rotor system, the compound high-speed helicopters become a hot research topic in recent years. Due to the novel coaxial rotor and propeller structure of the compound helicopter, the aerodynamic coupling effect between the coaxial rotor and the fuselage has strong influence to the overall performance of the helicopter at low flying speed. In order to accommodate this problem, this paper presents a novel{unidirectional auxiliary surface sliding mode control method for the attitude control of compound helicopters. In the proposed work, the flight dynamics of the novel structured compound helicopter are firstly introduced. Then, expanding the positive invariant sets with 6 unidirectional auxiliary surfaces and an exponential approaching law and a terminal attractor are incorporated into the framework so as to increase the convergence speed and ensure the state error converges within finite time. The stability of the newly developed algorithm is analyzed through the Lyapunov approach. Comparative simulation results have demonstrated that the proposed method is capable of tracking attitude commands and shown strong robustness to the uncertainties.","PeriodicalId":6623,"journal":{"name":"2018 IEEE CSAA Guidance, Navigation and Control Conference (CGNCC)","volume":"5 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"82464950","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 : 2018-08-01DOI: 10.1109/GNCC42960.2018.9018746
Y. Qu, Qingjie He, Ziquan Yu, Zhewen Xing
In this paper, the position synchronization control problem is investigated based on the boom refueling experimental platform. Two hydraulic motors are used to pull refueling boom by cables, but how to enhance the synchronization precision of two motors is a question needed to be considered. Firstly, motors models and geometric position relation of the platform are established based on the parameters of motors and the platform size. Next, a lot of experiments are conducted and hence, the motor dead zone and flow gain is determined through the analysis of experimental data. Besides, we also designed a dead zone compensation controller to weaken its impact on the system Then, we propose a state coordinated synchronization control law with auto disturbance rejection control. Finally, the simulation work and field test is carried out to verify the control performance of the controller. The proposed controller achieves good control performance and can satisfy the control requirements.
{"title":"Synchronization Control for Hydraulic Motors of Boom Refueling Experimental Platform","authors":"Y. Qu, Qingjie He, Ziquan Yu, Zhewen Xing","doi":"10.1109/GNCC42960.2018.9018746","DOIUrl":"https://doi.org/10.1109/GNCC42960.2018.9018746","url":null,"abstract":"In this paper, the position synchronization control problem is investigated based on the boom refueling experimental platform. Two hydraulic motors are used to pull refueling boom by cables, but how to enhance the synchronization precision of two motors is a question needed to be considered. Firstly, motors models and geometric position relation of the platform are established based on the parameters of motors and the platform size. Next, a lot of experiments are conducted and hence, the motor dead zone and flow gain is determined through the analysis of experimental data. Besides, we also designed a dead zone compensation controller to weaken its impact on the system Then, we propose a state coordinated synchronization control law with auto disturbance rejection control. Finally, the simulation work and field test is carried out to verify the control performance of the controller. The proposed controller achieves good control performance and can satisfy the control requirements.","PeriodicalId":6623,"journal":{"name":"2018 IEEE CSAA Guidance, Navigation and Control Conference (CGNCC)","volume":"24 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78825853","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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