文章基本信息

标题：A Nonlinear Backstepping Controller Design for High-Precision Tracking Applications with Input-Delay Gimbal Systems
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作者：Hwan-Cheol Park ; Soumayya Chakir ; Young-Bok Kim 等
期刊名称：Journal of Marine Science and Engineering
电子版ISSN：2077-1312
出版年度：2021
卷号：9
期号：5
页码：530
DOI：10.3390/jmse9050530
语种：English
出版社：MDPI AG
摘要：This paper proposes a novel nonlinear control approach for a two-axis gimbal to achieve accurate real-time tracking performance in maritime surveillance applications. For this objective, the control system must overcome system complexities and limitations, including nonlinear dynamics, coupled Euler angle-based measurements, and delay time constraints. The nonlinear backstepping controller was designed, taking into consideration the nonlinearities and system couplings to preserve the system stability. Then, an extra backstep was incorporated to minimize the control errors due to the delay time. The proposed control scheme enhances the tracking performances and expands the system’s bandwidth, which is validated in the simulations and experimental studies in comparison with a super-twisting sliding mode controller introduced in a previous study.