NDLI: Control of Articulated Structures on Maneuvering Platforms

Content Provider	IEEE Xplore Digital Library
Author	Shah, Sunil Kosut, Robert L.
Copyright Year	1990
Description	Author affiliation: Integrated Systems Inc., 2500 Mission College Blvd., Santa Clara, CA 95054. (Kosut, Robert L.)
Abstract	This paper describes approaches to modeling, system identification, control design and testing of a heli-borne automatic gun turret system. Nonlinear dynamic modeling from physical data, linear and nonlinear system identification, model validation, control design, simulation, implementation and testing are described. Firing dispersion is reduced by supressing effects of recoil in barrel tip motion at the firing instances. Quasi-periodic nature of the recoil disturbance is exploited in the control design by assigning frequency dependent weights to the output. The nominal controller reduces recoil response of the barrel tip, while allowing the turret/fork system to move around. The nonlinear portions of the dynamics, i.e. backlash and coulomb friction, introduce significant degradation of the linear controller performance. Further improvements to the nominal linear controller is achieved by using an estimator to track the barrel tip position, learning the actual deviation of the tip at firing instances during a burst and using the learned values to correct for the next burst. The scheme works remarkably well on the nonlinear simulation model under a variety of model parameter variations.
Starting Page	33
Ending Page	38
File Size	564122
Page Count	6
File Format	PDF
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1990-05-23
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	American Automatic Control Council(AACC)
Subject Keyword	Control design System testing Nonlinear dynamical systems Automatic control System identification Automatic testing Nonlinear systems Dispersion Frequency dependence Control systems
Content Type	Text
Resource Type	Article

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