Composite Velocity-Tracking Control for Flexible Gimbal System With Multi-Frequency-Band Disturbances

In this paper, a composite velocity-tracking control scheme is presented for improving dynamics response and control accuracy of the flexible gimbal system in the control moment gyro (CMG). Specifically, an H-infinity optimal vibration controller (HOVC) is developed to weigh multi-performance of the gimbal system, such as stability, fast-tracking performance, and attenuation ability of multi-frequency-band disturbances. Meanwhile, a robust disturbance observer (RDO) designed on optimization technology is utilized to improve the nonlinear friction rejection ability of the gimbal system. Moreover, rigorous theoretical analysis based on the small-gain theory is provided to demonstrate the stability of the closed-loop gimbal system under multiple disturbances. Finally, experimental studies are presented to verify the effectiveness of the proposed method.

Automated summary

This paper proposes a composite velocity-tracking control scheme to improve the dynamics response and control accuracy of the flexible gimbal system. The development of HOVC and utilization of RDO are key factors in enhancing the system's performance, as demonstrated through rigorous theoretical analysis and experimental studies.