In:
International Journal of Adaptive Control and Signal Processing, Wiley, Vol. 36, No. 7 ( 2022-07), p. 1502-1523
Kurzfassung:
In this article, a desired compensation version of the output feedback controller (DOFCESO) without using velocity measurement signal is proposed for precise tracking control of the three‐axis electrical‐optical gyro‐stabilized platform in the presence of largely unknown matched and mismatched modeling uncertainties. The proposed controller takes into account not only the system parametric deviations as well as the unmeasurable signal and external disturbances. To further handle the unmeasurable signal and the external disturbances, the composite extended state observer and nonlinear disturbance observer are constructed simultaneously via integrating adaptive nonlinear feedback tracking control design. To address the uncertainties arising from parametric deviations and external disturbances, the parameter adaptation mechanism is incorporated into the composite observer design to estimates of both the unmeasurable signal and the mismatched disturbance in the adaptive backstepping design. The tracking differentiator design is introduced here to estimate the derivative of the virtual control, leading to a much simpler control structure and reduced implementation costs. Furthermore, the proposed controller guarantees final tracking accuracy in the presence of time‐invariant modeling uncertainties and preserves the performance results of both control methods while overcoming their practical performance limitations. Extensive comparative experimental results are obtained to verify the high‐performance nature of the proposed control strategy.
Materialart:
Online-Ressource
ISSN:
0890-6327
,
1099-1115
Sprache:
Englisch
Verlag:
Wiley
Publikationsdatum:
2022
ZDB Id:
2000340-7
