Match!

Implementation and Control of X–Y Pedestal Using Dual-Drive Technique and Feedback Error Learning for LEO Satellite Tracking

Published on Jul 1, 2014in IEEE Transactions on Control Systems and Technology5.371
· DOI :10.1109/TCST.2013.2281838
Ali Reza Taheri9
Estimated H-index: 9
(IAU: Islamic Azad University),
Mahdi Aliyari Shoorehdeli17
Estimated H-index: 17
(KNTU: K.N.Toosi University of Technology)
+ 1 AuthorsMohammad H. Fatehi3
Estimated H-index: 3
(IAU: Islamic Azad University)
Abstract
This brief presents a X–Y pedestal using the feedback error learning (FEL) controller with adaptive neural network for low earth orbit (LEO) satellite tracking applications. The aim of the FEL is to derive the inverse dynamic model of the X–Y pedestal. In this brief, the kinematics of X–Y pedestal is obtained. To minimize or eliminate the backlash between gears, an antibacklash gearing system with dual-drive technique is used. The X–Y pedestal is implemented and the experimental results are obtained. They verify the obtained kinematics of the X–Y pedestal, its ability to minimize backlash, and the reduction of the tracking error for LEO satellite tracking in the typical NOAA19 weather satellite. Finally, the experimental results are plotted.
  • References (23)
  • Citations (6)
📖 Papers frequently viewed together
60 Citations
2001
2 Authors (Dong Sun, Yun-Hui Liu)
9 Citations
2005
78% of Scinapse members use related papers. After signing in, all features are FREE.
References23
Newest
Jun 1, 2012 in ICRA (International Conference on Robotics and Automation)
#1Young-Sik Kwon (Hanyang University)H-Index: 6
#2Yi Byung-Ju (Hanyang University)H-Index: 24
This paper deals with a design and motion planning algorithm of a caterpillar-based pipeline robot that can be used for inspection of 80-100-mm pipelines in an indoor pipeline environment. The robot system uses a differential drive to steer the robot and spring loaded four-bar mechanisms to assure that the robot expands to grip the pipe walls. Unique features of this robot are the caterpillar wheels, the analysis of the four-bar mechanism supporting the treads, a closed-form kinematic approach, ...
51 CitationsSource
#1JiXIANG (ZJU: Zhejiang University)H-Index: 15
#2Congwei ZhongH-Index: 3
Last. Wei Wei (ZJU: Zhejiang University)H-Index: 5
view all 3 authors...
A varied weights (VW) method is proposed in this paper for the kinematic control of redundant manipulators with multiple constraints. A weight factor rule to reflect the transition of the state of constraint subtask between activeness and inactiveness is presented. Each constraint has a VW factor in such a way that every time only the main task and the active constraint subtasks are considered. A new concept of effective singular value is presented for the design of damping factors to avoid the ...
25 CitationsSource
#1Alberto Jardón (ISCIII: Carlos III Health Institute)H-Index: 10
#2Martin F. Stoelen (ISCIII: Carlos III Health Institute)H-Index: 5
Last. Carlos Balaguer (ISCIII: Carlos III Health Institute)H-Index: 22
view all 4 authors...
ASIBOT is an assistive climbing robot that is capable of aiding in daily tasks from fixed docking stations in the environment. A task-oriented design process was applied to improve the robot kinematic structure, which was based on the grid method. Twelve different robot designs were optimized for typical kitchen scenarios, followed by a quantitative comparison.
7 CitationsSource
#1Mehdi Tavan (IAU: Islamic Azad University)H-Index: 3
#2Mahdi Aliyari Shoorehdeli (KNTU: K.N.Toosi University of Technology)H-Index: 17
Last. Amir Reza Zare Bidaki (IAU: Islamic Azad University)H-Index: 2
view all 3 authors...
Abstract The aim of this study is to prove validity of feedback error learning rule for a linear representation of dynamic system with unknown parameters. A simple single-layer neural network is assumed as an adaptive linear combiner and stability techniques are applied to derive the same adaptation law as feedback error learning rule.
4 CitationsSource
#1I. X. Bogiatzidis (University of Patras)H-Index: 3
#2Athanasios N. Safacas (University of Patras)H-Index: 12
Last. Epaminondas D. Mitronikas (University of Patras)H-Index: 11
view all 3 authors...
The study of the effects of the backlash phenomena appearing in a dual geared transmission system is presented in this paper. Particularly, the way that the backlash phenomena affect the behavior of a dual ac drive used for a cement kiln and especially the effect of these malfunctions in the two motors and the electrical equipment are investigated using simulation and experimental results. The equations of motion of a real dual drive kiln installed at the cement plant of TITAN Cement SA in Achai...
1 CitationsSource
May 1, 2010 in CCDC (Chinese Control and Decision Conference)
#1Alireza TaheriH-Index: 1
#2Mehdi TavanH-Index: 3
Last. Mohammad Teshnehlab (KNTU: K.N.Toosi University of Technology)H-Index: 25
view all 3 authors...
As a special kind of nonlinear systems, underactuated systems are of great interest in both theoretical research and real applications. The TORA (Translational Oscillator with Rotational Actuator) is an underactuated system. This system was developed as a simplified model of a dual-spin spacecraft and rotary machines for investigating the resonance capture phenomenon. This paper presents a new method for control of TORA system by using Feedback Error Learning (FEL) scheme. Adaptive neural networ...
1 CitationsSource
Extremely large telescopes will be constructed in the near future, and new radiotelescopes will operate at considerably higher radio frequencies; both features create significantly increased pointing accuracy requirements that have to be addressed by control system engineers. This paper presents control and pointing problems encountered during design, testing, and the operation of antennas, radiotelescopes, and optical telescopes. This collection of challenges informs of their current status, he...
50 CitationsSource
#1Aiko Miyamura Ideta (UTokyo: University of Tokyo)H-Index: 1
Feedback error learning method was recently proposed by Kawato et al. [A heirarchical neural-network model for control and learning of voluntary movements, Biol. Cybernet. 57 (1987) 169-185.] as a possible architecture of brain motor control which is supported by experimental results in neurophysiology. In this paper, we analyze it as a two-degree-of-freedom adaptive control for general time invariant linear plant with adaptive controller in the feedforward path. A time delay is allowed in the f...
11 CitationsSource
#1Zoltán Petres (MTA: Hungarian Academy of Sciences)H-Index: 10
#2P.L. Varkonyi (MTA: Hungarian Academy of Sciences)H-Index: 1
Last. Peter Korondi (BME: Budapest University of Technology and Economics)H-Index: 18
view all 4 authors...
Abstract — The Tensor Product (TP) model transformation is a recently proposed technique for transforming given Linear Parameter Varying (LPV) models into affine model form, namely, to parameter varying convex combination of Linear Time Invariant (LTI) models. The main advantage of the TP model transformation is that the Linear Matrix Inequality (LMI) based control design frameworks can immediately be applied to the resulting affine models to yield controllers with tractable and guaranteed perfo...
11 CitationsSource
A parallel manipulator is a closed kinematic structure with the necessary rigidity to provide a high payload to self-weight ratio suitable for many applications in manufacturing, flight simulation systems, and medical robotics. Because of its closed structure, the kinematic control of such a mechanism is difficult. The inverse kinematics problem for such manipulators has a mathematical solution; however, the forward kinematics problem (FKP) is mathematically intractable. This work addresses the ...
66 CitationsSource
Cited By6
Newest
Last. Mustafa CelikH-Index: 1
view all 3 authors...
Subspace method-based system identification and six different transfer functions as product of this method have been developed and embedded in the motion control unit of the X-Y pedestal satellite antenna. Fit estimation data of these six transfer functions is changing from 95.46% to 99.99% with a RMSE (root mean square error) degree from 0.00502 to 0.00984, whereas the target RMSE degree value is 0.05.
Source
#1Xinyou Han (Nara Institute of Science and Technology)H-Index: 1
#2Wataru Imahayashi (Nara Institute of Science and Technology)H-Index: 1
Last. Kenji Sugimoto (Nara Institute of Science and Technology)H-Index: 26
view all 3 authors...
Feedback error learning (FEL) is a useful tool for designing two-degree-of-freedom (2DOF) control systems. FEL consists of a fixed feedback block for stability and a feedforward block tuned online for tracking. Recently the author’s group has proposed a new FEL tuning law which requires a certain strictly positive real (SPR) condition in the feedback loop. In this paper we discuss relaxation of this requirement by means of filter selection in the feedforward controller.
#1A. Aihua Zhang (Bohai University)H-Index: 1
#2B. Chengcong Lv (Bohai University)H-Index: 1
Last. D. Zhiyong She (Bohai University)H-Index: 1
view all 4 authors...
A rigid satellite fault diagnosis strategy, subject to faults of external disturbances and thruster faults, is developed. In this design, an equivalent idea is introduced to design a sliding mode observer that can detect and identify the failures indicated previously. Considering the measurability of parameters of the satellite, such as angular velocity and attitude, a sliding mode observer is implemented. Next, the amplitudes of the faults and disturbances can be detected, identified, and estim...
6 CitationsSource
#1Hongyang Dong (HIT: Harbin Institute of Technology)H-Index: 3
#2Qinglei Hu (Beihang University)H-Index: 30
Last. Guangfu Ma (HIT: Harbin Institute of Technology)H-Index: 5
view all 4 authors...
Results are presented for a study of dual-quaternion-based fault-tolerant control for spacecraft tracking. First, a six-degrees-of-freedom dynamic model under a dual-quaternion-based description is employed to describe the relative coupled motion of a target-pursuer spacecraft tracking system. Then, a novel fault-tolerant control method is proposed to enable the pursuer to track the attitude and the position of the target even though its actuators have multiple faults. Furthermore, based on a no...
13 CitationsSource
#1Kamel Sabahi (University of Tabriz)H-Index: 7
#2Sehraneh Ghaemi (University of Tabriz)H-Index: 11
Last. Mohammad Ali Badamchizadeh (University of Tabriz)H-Index: 15
view all 3 authors...
Abstract In this paper, a combination of type-2 fuzzy logic system (T2FLS) and a conventional feedback controller (CFC) has been designed for the load frequency control (LFC) of a nonlinear time-delay power system. In this approach, the T2FLS controller which is designed to overcome the uncertainties and nonlinearites of the controlled system is in the feedforward path and the CFC which plays an important role in the transient state is in the feedback path. A Lyapunov–Krasovskii functional has b...
13 CitationsSource
Abstract During last three decades, the antenna control systems have been extensively developed, studied and applied in several satellite communication systems. While tracking the signal source, these systems play an important role in the alignment of antenna coordinates at receiving end. It is always needed to receive strongest, best quality and environmental effect free signal, transmitted by the transmitter. The speed, accuracy, power, cost and size are the important parameters of antenna con...
2 CitationsSource
#1Mehdi Tavan (IAU: Islamic Azad University)H-Index: 3
#2Ali Khaki Sedigh (KNTU: K.N.Toosi University of Technology)H-Index: 19
Last. Ahmad Reza Vali (MUT: Malek-Ashtar University of Technology)H-Index: 7
view all 4 authors...
This paper addresses the problem of output (angular position) feedback tracking control of two-degree-of-freedom X–Y pedestal systems. Both the velocity observer and the controller are based on a partial quasi-linearized model for the X–Y pedestal system. The two-dimensional velocity observer is uniformly globally exponentially convergent and does not require a priori upper-bound knowledge of the velocity magnitude. An important feature of the proposed observer is that it constructs a uniform gl...
2 CitationsSource