Observer-based adaptive fuzzy control of stabilized platform in rotary steerable system with input saturation and output constraint

IF 1.4 4区计算机科学 Q4 AUTOMATION & CONTROL SYSTEMS

Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering Pub Date : 2024-07-25 DOI:10.1177/09596518241256144

Min Wan, Jiaru Song, Guorong Wang

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引用次数: 0

Abstract

This paper explores the control strategy for toolface tracking in the stabilized platform of a rotary steerable system, considering both input saturation and output constraint. To mitigate the impact of unknown friction torque and modeling error on the stabilized platform, we propose an adaptive fuzzy backstepping control approach. A fuzzy state observer is specifically devised to handle the uncertain state arising from unknown friction torque and modeling errors. Introducing an auxiliary system effectively compensates for input saturation, and the resolution of the output error constraint is achieved through the construction of a barrier Lyapunov function. Furthermore, employing the Lyapunov method establishes that all signals in the entire closed-loop control system are semi-globally uniformly ultimately bounded. Simulation results confirm the efficacy of the proposed control methodology.

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具有输入饱和度和输出约束的旋转转向系统中稳定平台的基于观测器的自适应模糊控制

本文探讨了旋转可操纵系统稳定平台的工具面跟踪控制策略，同时考虑了输入饱和度和输出约束。为减轻未知摩擦力矩和建模误差对稳定平台的影响，我们提出了一种自适应模糊反步进控制方法。我们专门设计了一个模糊状态观测器来处理未知摩擦力矩和建模误差带来的不确定状态。引入辅助系统可有效补偿输入饱和，并通过构建屏障 Lyapunov 函数来解决输出误差约束。此外，利用 Lyapunov 方法还确定了整个闭环控制系统中的所有信号都是半全局均匀最终约束的。仿真结果证实了所提控制方法的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 工程技术-自动化与控制系统

CiteScore

3.50

自引率

18.80%

发文量

审稿时长

4.2 months

期刊介绍： Systems and control studies provide a unifying framework for a wide range of engineering disciplines and industrial applications. The Journal of Systems and Control Engineering refleSystems and control studies provide a unifying framework for a wide range of engineering disciplines and industrial applications. The Journal of Systems and Control Engineering reflects this diversity by giving prominence to experimental application and industrial studies. "It is clear from the feedback we receive that the Journal is now recognised as one of the leaders in its field. We are particularly interested in highlighting experimental applications and industrial studies, but also new theoretical developments which are likely to provide the foundation for future applications. In 2009, we launched a new Series of "Forward Look" papers written by leading researchers and practitioners. These short articles are intended to be provocative and help to set the agenda for future developments. We continue to strive for fast decision times and minimum delays in the production processes." Professor Cliff Burrows - University of Bath, UK This journal is a member of the Committee on Publication Ethics (COPE).cts this diversity by giving prominence to experimental application and industrial studies.