Jorge Montoya-

Cháirez / Victor Fabio Y. Toriumi /

Santibáñez / Javier Bruno A. Angélico
Moreno Valenzuela

Mechatronics
IFAC Papers Online
(Conference paper
archive)

México Brazil

Achieving a robust motion control Nonlinear control design

on a CMG using techniques such based on a sliding mode
as linearization, neural network approach to track a
algorithm and adaptive model desired trajectory
regresor scheme

-Hybrid intelligent optimization algorithm

-Sliding mode control
-Single channel design linear control
-Adaptive anti-swing and positioning control
-Linear parameter varying (LPV)
-Nonlinear stabilizing control
-Sliding mode control
-Adaptive fuzzy neural network control
-Dynamic feedback-feedforward control

Problem: Develop a robust

motion control to track a
desired trajectory using Problem: Track a
adaptive control desired trajectory

The authors highlighted the fact that there The authors claim that Nonlinear
are not sufficient applications of neural control techniques have proven to be
network based adaptive schemes which more effective than linear models
provide a better of more robust control than based on the performance in
linear and non-linear controllers practical applications

Some considerations:
-The disk is rotating at a constant velocity
Some considerations:
-They considered the angular momentum of a coordinate to be This model has shown far more complexity than the other research as this
-The physical model has to be setup on a specific site for
constant given that is a cyclic coordinate implements a more robust design; first of all a new nonlinear trajectory tracking
To design the model first the authors take into consideration the friction every experiment
-Is assumed that the trajectory is a three times differentiable control is introduced (they mention that accurate knowledge of parameters is
coefficient from another research, given a total of 4 nonlinear equations to -A maximun permisible error is taken in account for estimated
signal for all time greater than zero important), to the end of the work the finish giving two adaptive algorithms to be
solve, given that there exist imprecisions on the parameter values they take values
-They assume that a value is constant based on experimental coupled with the first model
a sliding mode approach to minimize the impact of the parameters values -An axis is locked to ensure that SISO configuration is given
simulations that shown no significant variance
this means that an angular position is constant and the
angular velocity of that position is 0

Develop of the control:

-Presenting the dynamic model
-Introducing a new trajectory tracking controller based on feedback
Develop of the control:
linearization
-Taking the model from a previous work
-Introducing the Model based controller to use adaptive controllers Adaptive control schemes Robust Nonlinear Control -Including the viscous friction term from another research
-Proposal of an adaptive neural network based controller derived from the applied to a control Applied to a control defining a permissible error
model based controller of before moment gyroscope of 2 moment gyroscope with -Solve the first batch of equations with inertia values
-Proposal of a regressor based adaptive controller for the trajectory degreed of freedom ISO Configuration -Introducing the sliding model approach
tracking
-Use of a saturation equation to replace a sign function
-Compare to experimental results
-Compare to experimental results

Block diagrams
Block diagrams

Compares the work with Compares the work with

linear controllers, the model Linear control
based controllers and approaches, although
cascade PID-PID controller they do not present data
comparison

Citing from research: Performance versus other controllers

"Linear controller does not have a good cannot be defined because they do
performance in comparison with the model not present this data
based controller and adaptive controllers and
PID-PID cascade controller have better
performance than model based control"

Software used: Software used:

The experimental platform is a commercial 3 degrees of freedom CMG unit model 750 from Educational Control Products (ECP) is
CMG of Quanser (see Fig. 4 ), which has the ability of fixing its used as an example of application. This versatile electromechanical
gimbals to reduce its number of degrees of freedom. The CMG is plant has 4 degrees-of-freedom (DOF) and can operate as a single-
equipped with 4 DC motors from Faulhaber. The disk has an input/single-output (SISO) system, as well as a coupled multiple-
optical encoder with resolution in quadrature of 4000 counts per input/multiple-output (MIMO) system.
revolution, and the resolution of the gimbal encoders is of 4096 Matlab and Simulink
counts per revolution. The control algorithms were tested in a
computer Matlab 2011 ©and Simulink toolbox, which is connected
to a digital signal processor motion control board (Quanser Q8 HIL
Board). At the same time, the control board interacts with a linear
power driver which delivers the required power to the CMG.

Given the results the model

successfully can track a trajectory
within the proposed error; although a
lot of parameters were assumed or
taken from other works.
Authors show us a robust model and
the successfully conclude that the
proposed model has one of the best
performances in comparison to other
models, although this model has far
more complexity

Personal Opinion:
This paper mostly make use of another researches to show some
results, although is quite plausible how the developed the dynamic
Personal Opinion: model and the considerations they take in account, I would have liked
As a Mexican i'm proud of this research that shows how far our the research to show us a comparison between other models
investigators can reach, I´m not entirely related to the topics discussed
in this paper, however its easy to be aware of the complexity that this
research carries, the most interesting thing is the applications or the
reach that this investigation has.
The model itself looks tedious in terms of calculus but in the results
they represent how good it is.