Journal of the Institute of Electronics and Information Engineers (전자공학회논문지)

The Institute of Electronics and Information Engineers (대한전자공학회)
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A Robust State Feedback Control of Gimbal System with Parametric Uncertainty

불확실성 파라미터를 포함하는 김발시스템의 상태궤환 강인제어기 설계

  • 전영범 (LIG넥스원 우주영상연구센터) ;
  • 최우석 (LIG넥스원 우주영상연구센터) ;
  • 한지훈 (LIG넥스원 우주영상연구센터) ;
  • 이성우 (국방과학연구소 국방위성체계개발단) ;
  • 강태하 (국방과학연구소 국방위성체계개발단)
  • Received : 2014.10.06
  • Accepted : 2015.07.29
  • Published : 2015.08.25
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Abstract

In this paper, we propose a state feedback robust controller of 2-axis gimbal system which have bounded parametric uncertainty. The proposed controller is robust against dynamics variations of gimbal system and contains a dynamic compensator in order to improve a steady state error and a transient response. The stability of the closed-loop system is proved by Lyapunov approach. The performance of the proposed method is demonstrated by simulation on a 2-axis gimbal system.

본 논문에서는 불확실성 파라미터를 포함한 김발시스템의 상태궤환 강인제어기를 제안하였다. 제안한 제어기는 김발시스템 동역학 변화에 강인하도록 설계하였고, 위치 및 속도 정상상태 오차 감소를 위한 동적보상기를 상태변수에 추가하였다. 페루프 시스템의 안정도는 Lyapunov 안정도판별법을 이용하여 증명하고, 2축 김발시스템 모델링을 이용한 모의실험을 통해 제어기 성능입증을 수행하였다.

Keywords

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