Adaptive backstepping approach for 2-DOF telescopes despite unknown wind disturbance
Yükleniyor...
Dosyalar
Tarih
2019-07
Dergi Başlığı
Dergi ISSN
Cilt Başlığı
Yayıncı
Institute of Electrical and Electronics Engineers Inc.
Erişim Hakkı
info:eu-repo/semantics/closedAccess
Özet
Small ground telescopes on the marked are widely used in many space observatories and scientific researches. There are three main problems in such telescopes; positioning of the focal point and the need of tuning for both different seasonal wind speeds and mass changes of the telescope arm. This study focuses on eliminating those problems for 2-DOF altazimuth configuration small telescopes. An adaptive controller is designed to create a set and forget system. The mathematical model of the telescope is derived based on RR type joint configuration. For a realistic approach, motor dynamics is considered in the mathematical model. The wind disturbance is modeled according to the Wind-Gust model which is a sum of sinusoidal with unknown amplitude, frequency and phase. The controller aims to cancel the effect of the disturbance on focal point of the telescope while positioning. The asymptotic stability is proven with the Lyapunov approach. The numerical study is illustrated to success of the proposed controller.
Açıklama
The authors would like to thank the technical and funding support of Isik University, Center for Optomechatronics Research and Application (OPAM), Ataturk University Center for Astrophysical Application and Research (ATASAM).
Anahtar Kelimeler
2-DOF altazimuth configuration small telescopes, Adaptation models, Adaptive backstepping, Adaptive control, Adaptive controller, Adaptive back-stepping, Adaptive control systems, Adaptive controllers, Aerospace engineering, Aircraft control, Astronomical telescopes, Asymptotic stability, Backstepping, Cable robot, Cables, Control nonlinearities, Control system synthesis, Controllers, Disturbance cancellation, Disturbance observer, Ground telescopes, Joint configuration, Lyapunov approach, Lyapunov methods, Mathematical model, Nonlinear control systems, Optical filters, Position control, Robots, RR type joint configuration, Scientific researches, Seasonal wind speeds, Space observatories, Telescope, Telescope arm, Telescopes, Torque, Trajectory, Tuning, Unknown Wind disturbance, Wind, Wind-Gust model
Kaynak
2019 IEEE 10th International Conference on Mechanical and Aerospace Engineering (ICMAE)
WoS Q Değeri
N/A
Scopus Q Değeri
N/A
Cilt
Sayı
Künye
Ünal, A. C., Yılmaz, C. T., Kararsız, G., Keskin, O. & Yeşilyaprak, C. (2019). Adaptive backstepping approach for 2-DOF telescopes despite unknown wind disturbance. Paper presented at the 2019 IEEE 10th International Conference on Mechanical and Aerospace Engineering (ICMAE), 343-348. doi:10.1109/ICMAE.2019.8880967
