Modeling and Nonlinear Computed Torque Control of Ship-mounted Mobile Satellite Communication System

被引：0
|
作者：
Jun Jiang 1 Bin Yao 2
机构：
来源：
International Journal of Automation and Computing | 2012年 / 05期
基金：
中国国家自然科学基金;
关键词：
Mobile satellite communication system (MSCS); dynamic modeling; computed torque control; tracking control; ship-mounted;
D O I：
暂无
中图分类号：
TN927.23 [];
学科分类号：
080402 ; 080904 ; 0810 ; 081001 ;
摘要：
A mobile satellite communication system (MSCS) is a device installed on a moving carrier for mobile satellite communication. It can eliminate disturbance and maintain continuous satellite communication when the carrier is moving. Because of many advantages of mobile satellite communication, the MSCSs are becoming more and more popular in modern mobile communication. In this paper, a typical ship-mounted MSCS is studied. The dynamic model of the system is derived using the generalized Lagrange method both in the joint space and in the workspace. Based on the dynamic model, a nonlinear computed torque controller with trajectory planning is designed to track an aimed satellite with a satisfied transient response. Simulation results in two different situations are presented to show the tracking performance of the controller.
引用
收藏
页码：459 / 466
页数：8
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