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Proceedings Paper

Self-tuning controller for nonlinear inertial stabilization systems
Author(s): Bo Li; David A. Hullender
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Paper Abstract

The ability to compensate for disturbances resulting form nonlinear phenomena such as Coulomb friction in inertial stabilization systems has been demonstrated to be feasible when the plant dynamics of the system are accurately modeled. However, for cases where the plant in unknown or changing, a self-tuning control algorithm is desired to prevent instability. This paper formulates such a self-tuning control algorithm with specific application to systems with inherent nonlinearities. The ability of the algorithm to self- tune and compensate for nonlinear induced disturbances is demonstrated for an inertial stabilization gimbal control system with Coulomb type bearing friction.

Paper Details

Date Published: 7 June 1996
PDF: 13 pages
Proc. SPIE 2739, Acquisition, Tracking, and Pointing X, (7 June 1996); doi: 10.1117/12.241919
Show Author Affiliations
Bo Li, Electrospace Systems, Inc. (United States)
David A. Hullender, Univ. of Texas/Arlington (United States)

Published in SPIE Proceedings Vol. 2739:
Acquisition, Tracking, and Pointing X
Michael K. Masten; Larry A. Stockum, Editor(s)

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