آمار

تعداد نشریات9
تعداد شماره‌ها447
تعداد مقالات5,734
تعداد مشاهده مقاله8,048,808
تعداد دریافت فایل اصل مقاله6,548,270
Nikkhoo, Mohammad, SAYYADI, HASSAN, Seif, Mohammad saeid. (1402). Experimental Validation of Adaptive Sliding Mode Fuzzy Controller for an Inertially Stabilized Platform. نشریه مهندسی عمران امیرکبیر, 55(Issue 3 (Special Issue)), 333-350. doi: 10.22060/eej.2023.22068.5510
Mohammad Nikkhoo; HASSAN SAYYADI; Mohammad saeid Seif. "Experimental Validation of Adaptive Sliding Mode Fuzzy Controller for an Inertially Stabilized Platform". نشریه مهندسی عمران امیرکبیر, 55, Issue 3 (Special Issue), 1402, 333-350. doi: 10.22060/eej.2023.22068.5510
Nikkhoo, Mohammad, SAYYADI, HASSAN, Seif, Mohammad saeid. (1402). 'Experimental Validation of Adaptive Sliding Mode Fuzzy Controller for an Inertially Stabilized Platform', نشریه مهندسی عمران امیرکبیر, 55(Issue 3 (Special Issue)), pp. 333-350. doi: 10.22060/eej.2023.22068.5510
Nikkhoo, Mohammad, SAYYADI, HASSAN, Seif, Mohammad saeid. Experimental Validation of Adaptive Sliding Mode Fuzzy Controller for an Inertially Stabilized Platform. نشریه مهندسی عمران امیرکبیر, 1402; 55(Issue 3 (Special Issue)): 333-350. doi: 10.22060/eej.2023.22068.5510

Experimental Validation of Adaptive Sliding Mode Fuzzy Controller for an Inertially Stabilized Platform

AUT Journal of Electrical Engineering
مقاله 3، دوره 55، Issue 3 (Special Issue)، 2023، صفحه 333-350    اصل مقاله (2.23 M)
نوع مقاله: Research Article
شناسه دیجیتال (DOI): 10.22060/eej.2023.22068.5510
نویسندگان
Mohammad Nikkhoo* 1؛ HASSAN SAYYADI2؛ Mohammad saeid Seif2
1Kish International Campus of Sharif University of Technology, Kish, Iran
2School of Mechanical Engineering, Centre of Excellence in Hydrodynamics and Dynamics of Marine Vehicles, Sharif University of Technology, Tehran, Iran.
چکیده
The adaptive fuzzy control algorithm using the novel membership function was designed to suppress chattering phenomena in the performance of the three-axis Inertially Stabilized Platform (ISP) applied to the stabilization and tracking of the line of sight in optical cameras mounted on a moving boat. The stability of the nonlinear controller was proven through the Lyapunov method. For the theoretical evaluation of the controller performance, a series of numerical simulations were performed. The nonlinear kinematic and dynamic equations of the ISP were derived for this purpose. Due to the coupling between ISP frames, direct implementation of the suggested controller was not feasible. To this end, four simplified assumptions were applied to the ISP design. To evaluate the performance of the proposed control algorithm, both numerical simulation and experimental methods were used on the three-axis ISP, and the results of both methods were compared and validated. Further, the results of the proposed nonlinear control algorithm were compared with the optimal PID linear algorithm. Besides, experimentally obtained angular velocities of a boat were used for the base motion of the ISP in the numerical simulations. Despite the existence of uncertainties in dynamic system modeling, the outcomes of the implementation of the control algorithm and experimental tests indicated that the adaptive fuzzy sliding mode algorithm stabilized the line of sight with acceptable accuracy and improved its performance .
کلیدواژه‌ها
Inertial navigation؛ Target tracking؛ Cameras؛ Fuzzy logic؛ Adaptive control؛ Stabilization
مراجع
  1. Lei, Y. Zou, F. Dong, A composite control method based on the adaptive RBFNN feedback control and the ESO for two-axis inertially stabilized platforms, ISA Trans., 59 (2015) 424-433.
  2. Leghmizi, L. Sheng, Kinematics modeling for satellite antenna dish stabilized platform, in: 2010 International Conference on Measuring Technology and Mechatronics Automation, IEEE, 2010, pp. 558-563.
  3. Zhou, Y. Jia, Q. Zhao, R. Yu, Experimental validation of a compound control scheme for a two-axis inertially stabilized platform with multi-sensors in an unmanned helicopter-based airborne power line inspection system, Sens., 16(3) (2016) 366.
  4. Zhou, H. Zhang, R. Yu, Decoupling control for twoaxis inertially stabilized platform based on an inverse system and internal model control, Mechatronics, 24(8) (2014) 1203-1213.
  5. Liu, J.Mao, J.Yang, S.Li, K.Yang , Robust predictive visual servoing control for an inertially stabilized platform with uncertain kinematics. ISA transactions, 114 (2021) 347-358.
  6. Bai, Z. Zhang, A least mean square based active disturbance rejection control for an inertially stabilized platform, Optik, 174 (2018) 609-622.
  7. Zhou, Y. Jia, Q. Zhao, T. Cai, Dual-rate-loop control based on disturbance observer of angular acceleration for a three-axis aerial inertially stabilized platform, ISA Trans., 63 (2016) 288-298.
  8. Sushchenko, A. Tunik, Robust optimization of the inertially stabilized platforms, in: 2012 2nd International Conference” Methods and Systems of Navigation and Motion Control”(MSNMC), IEEE, 2012, pp. 101-105.
  9. Mao, J. Yang, X. Liu, S. Li, Q. Li, Modeling and robust continuous TSM control for an inertially stabilized platform with couplings, IEEE Transactions on Control Systems Technology, 28(6) (2019) 2548-2555.
  10. Wang, R. Wang, E. Liu, W. Zhang, Stabilization control mothed for two-axis inertially stabilized platform based on active disturbance rejection control with noise reduction disturbance observer, IEEE Access, 7 (2019) 99521-99529.
  11. Ding, F. Zhao, Y. Lang, Z. Jiang, J. Zhu, Antidisturbance neural-sliding mode control for inertially stabilized platform with actuator saturation, IEEE Access, 7 (2019) 92220-92231.
  12. Mao, S. Li, Q. Li, J. Yang, Design and implementation of continuous finite-time sliding mode control for 2-DOF inertially stabilized platform subject to multiple disturbances, ISA Trans., 84 (2019) 214-224.
  13. -D. Guo, Z.-F. Tan, Application of a sliding mode variable structure controller for stabilized platform of shipborne weapons, in: 2010 2nd IEEE International Conference on Information Management and Engineering, IEEE, 2010, pp. 65-68.
  14. Dong, X. Lei, W. Chou, A dynamic model and control method for a two-axis inertially stabilized platform, IEEE Transactions on Industrial Electronics, 64(1) (2016) 432439.
  15. Zhou, B. Zhao, W. Liu, H. Yue, R. Yu, Y. Zhao, A compound scheme on parameters identification and adaptive compensation of nonlinear friction disturbance for the aerial inertially stabilized platform, ISA Trans., 67 (2017) 293-305.
  16. -X. Wang, A course in fuzzy systems and control, Prentice-Hall, Inc., 1996.
  17. -X. Wang, J.M. Mendel, Fuzzy basis functions, universal approximation, and orthogonal least-squares learning, IEEE Trans. Neural Networks, 3(5) (1992) 807814.
  18. Leghmizi, S. Liu, A survey of fuzzy control for stabilized platforms, arXiv preprint arXiv:1109.0428, (2011)
  19. Zhou, B. Zhang, D. Mao, MIMO fuzzy sliding mode control for three-axis inertially stabilized platform, Sens., 19(7) (2019) 1658.
  20. Xiang, and Q. Mu, Gimbal control of inertially stabilized platform for airborne remote sensing system based on adaptive RBFNN feedback model., IFAC Journal of Systems and Control, 16 (2021) 100148.
  21. Zhou, C. Yang, T. Cai, A model reference adaptive control/PID compound scheme on disturbance rejection for an aerial inertially stabilized platform, Journal of Sensors, 2016 (2016).
  22. Hurák, M. Rezac, Image-based pointing and tracking for inertially stabilized airborne camera platform, IEEE Transactions on Control Systems Technology, 20(5) (2011) 1146-115923.
  23. Zhou, G.Gong and R.Yu, Decoupling control for a three-axis inertially stabilized platform used for aerial remote sensing. Transactions of the Institute of Measurement and Control, 37(9) (2015) 1135-1145.
  24. Zhang, T.Yang, C.Li, S.Liu, C.Du, M.Li, Fuzzy-PID control for the position loop of aerial inertially stabilized platform. Aerospace Science and Technology, 36 (2014) 21-26.
آمار
تعداد مشاهده مقاله: 488
تعداد دریافت فایل اصل مقاله: 378


سامانه مدیریت نشریات علمی. طراحی و پیاده سازی از سیناوب