文章基本信息

标题：Active Disturbance Rejection for a Three Degrees of Freedom Gyroscope
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作者：Juan E. Andrade García ; Alejandra Ferreira de Loza ; Luis T. Aguilar 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2018
卷号：51
期号：13
页码：372-377
DOI：10.1016/j.ifacol.2018.07.307
语种：English
出版社：Elsevier
摘要：AbstractThis paper deals with the active disturbance rejection problem for a three degrees of freedom gyroscope. The goal is to design a robust tracking controller for the underactuated coordinate. A nonlinear model of the gyroscope, affected by matched and unmatched disturbances, is first obtained. Then, a high order sliding mode observer (HOSMO) estimates, theoretically in finite time, the disturbance signals. Such information is thus injected into the tracking controller to counteract the disturbances effect on the gyroscope dynamics. Stability of the closed-loop observer-controller system is analyzed through Lyapunov theory. Simulation results show the effectiveness of the proposed method.
关键词：Keywords3DOF Gyroscopehigh-order sliding modesdisturbance rejectionLyapunov stability