TY - JOUR
T1 - Robust trajectory tracking control of an underactuated control moment gyroscope via neural network–based feedback linearization
AU - Moreno–Valenzuela, Javier
AU - Montoya–Cháirez, Jorge
AU - Santibáñez, Víctor
N1 - Publisher Copyright:
© 2020 Elsevier B.V.
PY - 2020/8/25
Y1 - 2020/8/25
N2 - In this document, an underactuated two degrees–of–freedom control moment gyroscope (CMG) is studied. Specifically, the problem of trajectory tracking in the non-actuated joint is addressed. The feedback linearization technique is used to design a model-based controller. Then, an adaptive neural network–based scheme is designed to add robustness with respect to model uncertainties. Studies on the internal and output dynamics are presented. The introduced theory is validated by means of real–time experiments. The comparisons among a linear controller, a cascaded PID–PID scheme, and a known adaptive neural network controller are presented to assess the performance of the novel robust controller given in this work. Better tracking accuracy is obtained with the introduced approach.
AB - In this document, an underactuated two degrees–of–freedom control moment gyroscope (CMG) is studied. Specifically, the problem of trajectory tracking in the non-actuated joint is addressed. The feedback linearization technique is used to design a model-based controller. Then, an adaptive neural network–based scheme is designed to add robustness with respect to model uncertainties. Studies on the internal and output dynamics are presented. The introduced theory is validated by means of real–time experiments. The comparisons among a linear controller, a cascaded PID–PID scheme, and a known adaptive neural network controller are presented to assess the performance of the novel robust controller given in this work. Better tracking accuracy is obtained with the introduced approach.
KW - Control moment gyroscope
KW - Neural networks
KW - Real–time experiments
KW - Trajectory tracking control
KW - Underactuated systems
UR - http://www.scopus.com/inward/record.url?scp=85084664380&partnerID=8YFLogxK
U2 - 10.1016/j.neucom.2020.04.019
DO - 10.1016/j.neucom.2020.04.019
M3 - Artículo
AN - SCOPUS:85084664380
SN - 0925-2312
VL - 403
SP - 314
EP - 324
JO - Neurocomputing
JF - Neurocomputing
ER -