Research on motion driving and tracking control of 3-DOF parallel stabilized platform

Shuo Jiang; Junzheng Wang; Shoukun Wang; Jiangbo Zhao

doi:10.23919/CCC52363.2021.9549608

Research on motion driving and tracking control of 3-DOF parallel stabilized platform

School of Automation

Beijing Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

2 Citations (Scopus)

Abstract

The stabilized platform can keep the equipment's horizontal attitude above the carrier stable, provide a relative safe working environment, and possess the motion simulation function. Due to unknown and time-varying environmental information, the platform's stability control is susceptible to mechanical resonance, parameter gain chattering, and response lag. This paper proposes a three-degree-of-freedom (3-DOF) parallel stabilized platform and elaborates the design concept. A sliding mode variable structure controller (SMC) in single-cylinder based on the Lyapunov stability theory is designed, and we discuss the controller's adjustability. SMC improves system's control accuracy and environmental adaptability. Switching feedforward control method is applied to achieve horizontal postures stability. Attitude tracking experiments are carried out under different disturbance conditions to verify the feasibility of the algorithm.

Original language	English
Title of host publication	Proceedings of the 40th Chinese Control Conference, CCC 2021
Editors	Chen Peng, Jian Sun
Publisher	IEEE Computer Society
Pages	2784-2789
Number of pages	6
ISBN (Electronic)	9789881563804
DOIs	https://doi.org/10.23919/CCC52363.2021.9549608
Publication status	Published - 26 Jul 2021
Event	40th Chinese Control Conference, CCC 2021 - Shanghai, China Duration: 26 Jul 2021 → 28 Jul 2021

Publication series

Name	Chinese Control Conference, CCC
Volume	2021-July
ISSN (Print)	1934-1768
ISSN (Electronic)	2161-2927

Conference

Conference	40th Chinese Control Conference, CCC 2021
Country/Territory	China
City	Shanghai
Period	26/07/21 → 28/07/21

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 8 Decent Work and Economic Growth

Keywords

3-DOF platform
Attitude tracking
Feedforward switching
Sliding mode control

Access to Document

10.23919/CCC52363.2021.9549608

Cite this

@inproceedings{b9426ecfc45240a79314d7c312bf3885,

title = "Research on motion driving and tracking control of 3-DOF parallel stabilized platform",

abstract = "The stabilized platform can keep the equipment's horizontal attitude above the carrier stable, provide a relative safe working environment, and possess the motion simulation function. Due to unknown and time-varying environmental information, the platform's stability control is susceptible to mechanical resonance, parameter gain chattering, and response lag. This paper proposes a three-degree-of-freedom (3-DOF) parallel stabilized platform and elaborates the design concept. A sliding mode variable structure controller (SMC) in single-cylinder based on the Lyapunov stability theory is designed, and we discuss the controller's adjustability. SMC improves system's control accuracy and environmental adaptability. Switching feedforward control method is applied to achieve horizontal postures stability. Attitude tracking experiments are carried out under different disturbance conditions to verify the feasibility of the algorithm.",

keywords = "3-DOF platform, Attitude tracking, Feedforward switching, Sliding mode control",

author = "Shuo Jiang and Junzheng Wang and Shoukun Wang and Jiangbo Zhao",

note = "Publisher Copyright: {\textcopyright} 2021 Technical Committee on Control Theory, Chinese Association of Automation.; 40th Chinese Control Conference, CCC 2021 ; Conference date: 26-07-2021 Through 28-07-2021",

year = "2021",

month = jul,

day = "26",

doi = "10.23919/CCC52363.2021.9549608",

language = "English",

series = "Chinese Control Conference, CCC",

publisher = "IEEE Computer Society",

pages = "2784--2789",

editor = "Chen Peng and Jian Sun",

booktitle = "Proceedings of the 40th Chinese Control Conference, CCC 2021",

address = "United States",

}

Jiang, S, Wang, J , Wang, S & Zhao, J 2021, Research on motion driving and tracking control of 3-DOF parallel stabilized platform. in C Peng & J Sun (eds), Proceedings of the 40th Chinese Control Conference, CCC 2021. Chinese Control Conference, CCC, vol. 2021-July, IEEE Computer Society, pp. 2784-2789, 40th Chinese Control Conference, CCC 2021, Shanghai, China, 26/07/21. https://doi.org/10.23919/CCC52363.2021.9549608

Research on motion driving and tracking control of 3-DOF parallel stabilized platform. / Jiang, Shuo; Wang, Junzheng ; Wang, Shoukun et al.
Proceedings of the 40th Chinese Control Conference, CCC 2021. ed. / Chen Peng; Jian Sun. IEEE Computer Society, 2021. p. 2784-2789 (Chinese Control Conference, CCC; Vol. 2021-July).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Research on motion driving and tracking control of 3-DOF parallel stabilized platform

AU - Jiang, Shuo

AU - Wang, Junzheng

AU - Wang, Shoukun

AU - Zhao, Jiangbo

PY - 2021/7/26

Y1 - 2021/7/26

N2 - The stabilized platform can keep the equipment's horizontal attitude above the carrier stable, provide a relative safe working environment, and possess the motion simulation function. Due to unknown and time-varying environmental information, the platform's stability control is susceptible to mechanical resonance, parameter gain chattering, and response lag. This paper proposes a three-degree-of-freedom (3-DOF) parallel stabilized platform and elaborates the design concept. A sliding mode variable structure controller (SMC) in single-cylinder based on the Lyapunov stability theory is designed, and we discuss the controller's adjustability. SMC improves system's control accuracy and environmental adaptability. Switching feedforward control method is applied to achieve horizontal postures stability. Attitude tracking experiments are carried out under different disturbance conditions to verify the feasibility of the algorithm.

AB - The stabilized platform can keep the equipment's horizontal attitude above the carrier stable, provide a relative safe working environment, and possess the motion simulation function. Due to unknown and time-varying environmental information, the platform's stability control is susceptible to mechanical resonance, parameter gain chattering, and response lag. This paper proposes a three-degree-of-freedom (3-DOF) parallel stabilized platform and elaborates the design concept. A sliding mode variable structure controller (SMC) in single-cylinder based on the Lyapunov stability theory is designed, and we discuss the controller's adjustability. SMC improves system's control accuracy and environmental adaptability. Switching feedforward control method is applied to achieve horizontal postures stability. Attitude tracking experiments are carried out under different disturbance conditions to verify the feasibility of the algorithm.

KW - 3-DOF platform

KW - Attitude tracking

KW - Feedforward switching

KW - Sliding mode control

UR - https://www.scopus.com/pages/publications/85117269187

U2 - 10.23919/CCC52363.2021.9549608

DO - 10.23919/CCC52363.2021.9549608

M3 - Conference contribution

AN - SCOPUS:85117269187

T3 - Chinese Control Conference, CCC

SP - 2784

EP - 2789

BT - Proceedings of the 40th Chinese Control Conference, CCC 2021

A2 - Peng, Chen

A2 - Sun, Jian

PB - IEEE Computer Society

T2 - 40th Chinese Control Conference, CCC 2021

Y2 - 26 July 2021 through 28 July 2021

ER -

Research on motion driving and tracking control of 3-DOF parallel stabilized platform

Abstract

Publication series

Conference

UN SDGs

Keywords

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