Orientation of radio-telescope secondary mirror via adaptive sliding mode control

Sajjad Keshtkar, Eusebio Hernandez, Armando Oropeza, Alexander Poznyak

Research output: Contribution to journalArticle

5 Citations (Scopus)

Abstract

© 2016 Elsevier B.V. In this work a parallel manipulator (Stewart platform) is used to align and maintain the position of the secondary mirror of a radio-telescope. The six degrees of freedom platform gives the significant advantage of reaching the maximum performance for the positioning tasks. The near-singularity condition of the platform is analyzed and is handled by implementation of a new control law based on sliding mode with inner regularization procedure. Herein, the finite-time convergence of closed-loop system derived from designed control in the presence of external as well as internal disturbances/uncertainties is proved. The effectiveness of the proposed controller is verified via numerical simulation. We show that Sliding Mode Control with a gain matrix adaptation based on the Equivalent Control method can significantly reduce the undesirable chattering effect an therefore avoid the possible damages.
Original languageAmerican English
Pages (from-to)43-51
Number of pages37
JournalNeurocomputing
DOIs
StatePublished - 12 Apr 2017

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Telescopes
Radio telescopes
Sliding mode control
Radio
Mirrors
Task Performance and Analysis
Uncertainty
Closed loop systems
Manipulators
Controllers
Computer simulation

Cite this

Keshtkar, Sajjad ; Hernandez, Eusebio ; Oropeza, Armando ; Poznyak, Alexander. / Orientation of radio-telescope secondary mirror via adaptive sliding mode control. In: Neurocomputing. 2017 ; pp. 43-51.
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Orientation of radio-telescope secondary mirror via adaptive sliding mode control. / Keshtkar, Sajjad; Hernandez, Eusebio; Oropeza, Armando; Poznyak, Alexander.

In: Neurocomputing, 12.04.2017, p. 43-51.

Research output: Contribution to journalArticle

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