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http://dx.doi.org/10.5302/J.ICROS.2012.18.7.680

Control System Design for a UAV-Mounted Camera Gimbal Subject to Coulomb Friction  

Hwang, Sung-Pil (Dept. Aerospace Engineering, Sejong University)
Park, Jea-Ho (Dept. Aerospace Engineering, Sejong University)
Hong, Sung-Kyung (Dept. Aerospace Engineering, Sejong University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.18, no.7, 2012 , pp. 680-687 More about this Journal
Abstract
One of the frequent problems in the stabilized gimbal system is the rejection of disturbances associated with moving components. Very often such disturbances have non-linear characteristics. In a typical gimbal system, each gimbal and platform are connected by a mutual bearing which induces inevitable friction. Particularly, the non-linear Coulomb friction causes position errors as well as slow responses that lead to unfavorable performance. In this paper, a modified PID controller that is augmented by Coulomb friction estimator is presented. Through constantly estimating the Coulomb friction torque, it is applied to the output of the existing PID controller. The effectiveness of the proposed controller is evaluated through a series of experiments.
Keywords
stabilized gimbal; prediction error methods; coulomb friction torque; gravity direction tracking;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
Times Cited By SCOPUS : 0
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