Orientation of radio-telescope secondary mirror via adaptive sliding mode control

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• 作者：Sajjad Keshtkar^a ; ^{skeshtkar@ctrl.cinvestav.mx}Author Vitae ; Eusebio Hernandez^bAuthor Vitae ; Armando Oropeza^bAuthor Vitae ; Alexander Poznyak^a ; ^cAuthor Vitae
• 关键词：Sliding mode control ; Adaptive control ; Near-singularity condition ; Inner regularization procedure ; Parallel platform ; Radio-telescope orientation
• 刊名：Neurocomputing
• 出版年：2017
• 出版时间：12 April 2017
• 年：2017
• 卷：233
• 期：Complete
• 页码：43-51
• 全文大小：1551 K
• 卷排序：233

文摘

In this work a parallel manipulator (Stewart platform) is used to align and maintain the position of the secondary mirror of a radio-telescope. The six degrees of freedom platform gives the significant advantage of reaching the maximum performance for the positioning tasks. The near-singularity condition of the platform is analyzed and is handled by implementation of a new control law based on sliding mode with inner regularization procedure. Herein, the finite-time convergence of closed-loop system derived from designed control in the presence of external as well as internal disturbances/uncertainties is proved. The effectiveness of the proposed controller is verified via numerical simulation. We show that Sliding Mode Control with a gain matrix adaptation based on the Equivalent Control method can significantly reduce the undesirable chattering effect an therefore avoid the possible damages.