Control of a turntable on a mobile base in the presence of perturbations
- Authors: Anan’evskii I.M.1,2,3, Ishkhanyan T.A.1,2,3
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Affiliations:
- Institute for Problems in Mechanics
- Moscow Institute of Physics and Technology (State University)
- Institute for Physical Research
- Issue: Vol 55, No 3 (2016)
- Pages: 483-491
- Section: Robotics
- URL: https://journals.rcsi.science/1064-2307/article/view/219663
- DOI: https://doi.org/10.1134/S1064230716030047
- ID: 219663
Cite item
Abstract
Control of an electromechanical system consisting of two rigid bodies connected by an electric motor is considered. Both bodies can rotate about a common axis. This system is a simplified model of a precision turntable mounted on an orbital space vehicle and designed to reduce the apparent accelerations of a container with a payload fixed on the turntable. The accelerations to be reduced are small and may be comparable with the accelerations caused by the friction in the bearings of the electric drive. A feedback control law is proposed, which, after finite time interval, provides a predetermined motion of the second body relative to the first one in the presence of friction with unknown and variable parameters and in the presence of other uncontrollable perturbations. The effectiveness of the suggested control law is illustrated by numerical simulations.
About the authors
I. M. Anan’evskii
Institute for Problems in Mechanics; Moscow Institute of Physics and Technology (State University); Institute for Physical Research
Author for correspondence.
Email: anan@ipmnet.ru
Russian Federation, pr. Vernadskogo 101 korp. 1, Moscow, 119526; Institutskii per. 9, Dolgoprudnyi, Moscow oblast, 141700; Ashtarak-2, 0203
T. A. Ishkhanyan
Institute for Problems in Mechanics; Moscow Institute of Physics and Technology (State University); Institute for Physical Research
Email: anan@ipmnet.ru
Russian Federation, pr. Vernadskogo 101 korp. 1, Moscow, 119526; Institutskii per. 9, Dolgoprudnyi, Moscow oblast, 141700; Ashtarak-2, 0203