A Nonlinear Backstepping Controller Design for High-Precision Tracking Applications with Input-Delay Gimbal Systems

Park, Hwan Cheol; Chakir, Soumayya; Kim, Young-Bok; Huynh, Thinh

doi:10.3390/jmse9050530

Cited by 7 publications

(2 citation statements)

References 27 publications

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“…This can be designed by placing all poles at −ω e , and additionally confirmed by the condition that the LESO is BIBO stable. When the state variables are observed by the LESO with e r → 0, the control signal of the actuator, u, is illustrated in Equation (13). It consists of the output of the tracking part represented by u 0 with gains of k 1 and k 2 and the stabilized part including the compensation for the accelerated saturation in z 3 with the gain b 0 .…”

Section: Tracking Controller With a Modified Lesomentioning

confidence: 99%

“…This technology is indispensable for performing complex tasks, such as visual-aided autonomous navigation [6][7][8][9][10] and target tracking in coast patrol [11,12]. Moreover, the joint USV-UAV operations [13][14][15][16] in marine environments characterized by complex and random disturbances, such as wave motion, turbulence, and environmental gusts, are also required urgently. To meet the requirements of unmanned vehicle applications, researchers have been dedicated to enhancing the performance of the MISP.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

An Anti-Windup Method Based on an LADRC for Miniaturized Inertial Stabilized Platforms on Unmanned Vehicles in Marine Applications

Fu,

Guan,

Gao

et al. 2024

JMSE

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This paper investigates an anticipatory activation anti-windup approach based on Linear Active Disturbance Rejection Control (LADRC) to address the influences of accelerated saturation on the actuators in a Miniaturized Inertial Stabilized Platform (MISP) with extreme external disturbance. The proposed method aims to eliminate the high-frequency vibrations on the Line of Sight (LOS) of electro-optical devices during actuator saturation. To achieve this, the Linear Extended State Observer (LESO) is modified by adding saturation feedback to the total disturbance observed state variable, which is operated as an anticipatory activation anti-windup compensator. The stability of the proposed controller is discussed, and the gains are optimized by the Linear Matrix Inequality (LMI) constraints though quadratic programming and an H-infinite performance indicator. Additionally, as the multiple activated scheme for anti-windup, the effectiveness of immediate activation in dealing with accelerated saturation is compared and analyzed. These comparisons and verification are implemented through simulations, where the external disturbance is introduced using recorded attitude data from USV sailing. Finally, experiments are conducted on an MISP for a visual tracking system, demonstrating that the anticipatory activation mothed effectively suppresses high-frequency vibrations on the LOS during instances of accelerated saturation.

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Section: Tracking Controller With a Modified Lesomentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

An Anti-Windup Method Based on an LADRC for Miniaturized Inertial Stabilized Platforms on Unmanned Vehicles in Marine Applications

Fu,

Guan,

Gao

et al. 2024

JMSE

View full text Add to dashboard Cite

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Laser-based drone vision disruption with a real-time tracking system for privacy preservation

Kuantama,

Zhang,

Rahman

et al. 2024

Expert Systems with Applications

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Design of Robust Fault-Tolerant Control for Target Tracking System With Input Delay and Sensor Fault

Huynh

Kim

2021

IEEE Access

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This paper presents a robust fault-tolerant control scheme that provides reliable tracking and effective disturbance rejection for a low-cost tracking system. As the controlled apparatus, a 2-axis gimbaled mechanism is involved in a networked control system, and an unreliable sensor brings sensor drift into the system. Besides, external disturbances heavily affect the system in practical applications. Representation of the faulty gimbal system with its constraints and disturbances is firstly introduced. Then, the designed fault-tolerant controller consists of two components: (1) an unknown input observer estimates simultaneously information on the fault and effect of disturbances and networked delay, and (2) a robust control law, using the observer estimations, is based on the combination of the super-twisting algorithm, backstepping procedure, and integral sliding mode control technique. Subsequently, simulations and experiments are conducted, in which the performance of the proposed control system is compared to those from the previous studies. The results show the superiority and reliability of the proposed control system.INDEX TERMS Fault tolerant control, target tracking system, time-varying delay, unknown input observer, sensor drift, integral sliding mode control.

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A Nonlinear Backstepping Controller Design for High-Precision Tracking Applications with Input-Delay Gimbal Systems

Cited by 7 publications

References 27 publications

An Anti-Windup Method Based on an LADRC for Miniaturized Inertial Stabilized Platforms on Unmanned Vehicles in Marine Applications

An Anti-Windup Method Based on an LADRC for Miniaturized Inertial Stabilized Platforms on Unmanned Vehicles in Marine Applications

Laser-based drone vision disruption with a real-time tracking system for privacy preservation

Design of Robust Fault-Tolerant Control for Target Tracking System With Input Delay and Sensor Fault

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