Table of Contents Author Guidelines Submit a Manuscript
Mathematical Problems in Engineering
Volume 2010, Article ID 973482, 27 pages
http://dx.doi.org/10.1155/2010/973482
Review Article

Time Domain Simulation of a Target Tracking System with Backlash Compensation

1Departamento de Engenharia Mecânica, Pontifícia Universidade Católica do Rio de Janeiro, R. Marquês de São Vicente 225, 22453-900 Rio de Janeiro, RJ, Brazil
2Departamento de Engenharia Mecânica, Instituto Militar de Engenharia, Praça General Tibúrcio 80, Praia Vermelha, 22290-270 Rio de Janeiro, RJ, Brazil

Received 15 July 2009; Accepted 23 September 2009

Academic Editor: José Balthazar

Copyright © 2010 Maurício Gruzman et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Linked References

  1. M. A. Brdyś and J. J. Littler, “Fuzzy logic gain scheduling for non-linear servo tracking,” International Journal of Applied Mathematics and Computer Science, vol. 12, no. 2, pp. 209–219, 2002. View at Google Scholar · View at Zentralblatt MATH · View at MathSciNet
  2. M. K. Masten, “Inertially stabilized platforms for optical imaging systems,” IEEE Control Systems Magazine, vol. 28, no. 1, pp. 47–64, 2008. View at Publisher · View at Google Scholar · View at MathSciNet
  3. M. Gruzman, H. I. Weber, and L. L. Menegaldo, “Control of a target tracking system embedded in a moving body,” in Proceedings of the 20th International Congress of Mechanical Engineering (COBEM '09), Gramado, Brazil, 2009.
  4. P. J. Kennedy and R. L. Kennedy, “Direct versus indirect line of sight (LOS) stabilization,” IEEE Transactions on Control Systems Technology, vol. 11, no. 1, pp. 3–15, 2003. View at Publisher · View at Google Scholar
  5. K. M. Pasino and S. Yurkovich, Fuzzy Control, Addison-Wesley Longman, Menlo Park, Calif, USA, 1998.
  6. K. J. Åström and R. M. Murray, Feedback Systems: An Introduction for Scientists and Engineers, Princeton University Press, Princeton, NJ, USA, 2008. View at MathSciNet
  7. J. Downs, S. Smith, J. Schwickert, and L. Stockum, “High performance gimbal control for self-protection weapon systems,” in Proceedings of the 7th Conference on Aqcuisition, Tracking and Pointing, vol. 3365 of Proceedings of SPIE, pp. 77–86, Orlando, Fla, USA, April 1998. View at Publisher · View at Google Scholar
  8. H.-P. Lee and I.-E. Yoo, “Robust control design for a two-axis gimbaled stabilization system,” in Proceedings of the IEEE Aerospace Conference Proceedings (AC '08), pp. 1–7, Big Sky, Mont, USA, March 2008. View at Publisher · View at Google Scholar
  9. S. H. Cradall, D. C. Karnopp, F. J. Kurtz, and D. C. Pridemorebrown, Dinamics of Mechanical and Eletromechanical Systems, McGraw-Hill, New York, NY, USA, 1968.
  10. K. Ogata, Engenharia de Controle Moderno, Prentice-Hall, São Paulo, Brazil, 4th edition, 2003.
  11. M. Nordin and P.-O. Gutman, “Non-linear speed control of elastic systems with backlash,” in Proceedings of the 39th IEEE Conference on Decision and Control (CDC '00), vol. 4, pp. 4060–4065, Sydney, Australia, December 2000.
  12. A. Lagerberg and B. Egardt, “Evaluation of control strategies for automotive powertrains with backlash,” in Proceedings of the 6th International Symposium on Advanced Vehicle Control (AVEC '02), Hiroshima, Japan, 2002.
  13. J. H. Baek, Y. K. Kwak, and S. H. Kim, “Backlash estimation of a seeker gimbal with two-stage gear reducers,” International Journal of Advanced Manufacturing Technology, vol. 21, no. 8, pp. 604–611, 2003. View at Publisher · View at Google Scholar
  14. P. Dupont, V. Hayward, B. Armstrong, and F. Altpeter, “Single state elastoplastic friction models,” IEEE Transactions on Automatic Control, vol. 47, no. 5, pp. 787–792, 2002. View at Publisher · View at Google Scholar · View at MathSciNet
  15. V. Lampaert, J. Swevers, and F. Al-Bender, “Experimental comparison of different friction models for accurate low-velocity tracking,” in Proceedings of the 10th Mediterranean Conference on Control and Automation (MED '02), Lisbon, Portugal, July 2002.
  16. V. Lampaert, J. Swevers, and F. Al-Bender, “Comparison of model and non-model based friction compensation techniques in the neighbourhood of pre-sliding friction,” in Proceedings of the American Control Conference (AAC '04), vol. 2, pp. 1121–1126, Boston, Mass, USA, June-July 2004.
  17. C. Makkar, W. E. Dixon, W. G. Sawyer, and G. Hu, “A new continuosly differentiable friction model for control systems design,” in Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM '05), pp. 600–605, Monterey, Calif, USA, July 2005. View at Publisher · View at Google Scholar
  18. B. D. Nguyen, Modelling of frictional contact conditions in structures, M.S. Dissertation, Georgia Institute of Technology, Atlanta, Ga, USA, 2005.
  19. S. V. Duin, Impulse control systems for servomechanisms with nonlinear friction, Ph.D. thesis, School of Electrical, Computer and Telecomunications Engineering, University of Wollongong, Sydney, Australia, 2006.
  20. S. Andersson, A. Söderberg, and S. Björklund, “Friction models for sliding dry, boundary and mixed lubricated contacts,” Tribology International, vol. 40, no. 4, pp. 580–587, 2007. View at Publisher · View at Google Scholar
  21. J.-C. Piedbœuf, J. de Carufel, and R. Hurteau, “Friction and stick-slip in robots: simulation and experimentation,” Multibody System Dynamics, vol. 4, no. 4, pp. 341–354, 2000. View at Publisher · View at Google Scholar · View at Zentralblatt MATH
  22. M. A. Ruggiero and V. L. R. Lopes, Cálculo Numérico—Aspectos Teóricos e Computacionais, Makron Books do Brasil, São Paulo, Brazil, 2nd edition, 1996.
  23. P. O. Arambel, R. K. Mehra, B. Bradley et al., “New generation high speed turret and pseudo bang-bang controller,” in Proceedings of the American Control Conference (AAC '01), vol. 4, pp. 2561–2566, Arlington, Va, USA, June 2001.
  24. M. Borrello, “A multi stage pointing acquisition and tracking (PAT) control system approach for air to air laser communications,” in Proceedings of the American Control Conference (AAC '05), vol. 6, pp. 3975–3980, Portland, Ore, USA, June 2005.
  25. Z. Haider, F. Habib, M. H. Mukhtar, and K. Munawar, “Design, control and implementation of 2-DOF motion tracking platform using drive-anti drive mechanism for compensation of backlash,” in Proceedings of the IEEE International Workshop on Robotic and Sensor Environments (ROSE '07), pp. 57–62, Ottawa, Canada, October 2007. View at Publisher · View at Google Scholar
  26. M. Gruzman and H. I. Weber, “Simulation of a positioning system with backlash, flexibility and a proportional controller aided by a brake,” in Proceedings of the 15th International Workshop on Dynamics and Control, Barcelona, Spain, 2009.
  27. J. R. Rzasa, Design and application of pan and tilt servo gimbals in pointing, acquisition and tracking, M.S. Dissertation, University of Maryland, College Park, Md, USA, 2007.
  28. M. Nordin and P.-O. Gutman, “Controlling mechanical systems with backlash—a survey,” Automatica, vol. 38, no. 10, pp. 1633–1649, 2002. View at Publisher · View at Google Scholar · View at Zentralblatt MATH · View at MathSciNet
  29. K. Menon and K. Krishnamurthy, “Control of low velocity friction and gear backlash in a machine tool feed drive system,” Mechatronics, vol. 9, no. 1, pp. 33–52, 1999. View at Publisher · View at Google Scholar
  30. J. W. Moscrop, Modelling, analysis and control of linear feed axes in precision machine tools, Ph.D. thesis, School of Electrical, Computer and Telecomunications Engineering, University of Wollongong, Sydney, Australia, 2008.
  31. N. H. Kim, U. Y. Huh, and J. G. Kim, “Fuzzy position control of motor plant with backlash,” in Proceedings of the 30th Annual Conference of the IEEE Industrial Electronics Society (IECON '04), vol. 3, pp. 3190–3195, Busan, South Korea, November 2004.
  32. H. Mokhtari and F. Barati, “A new scheme for a mechanical load position control driven by a permanent magnet DC motor and a nonzero backlash gearbox,” in Proceedings of the IEEE International Symposium on Industrial Electronics (ISIE '06), vol. 3, pp. 2052–2057, Montréal, Canada, July 2006. View at Publisher · View at Google Scholar
  33. T. S. Santos and F. H. T. Vieira, “Uma proposta de controle adaptativo para sistemas discretos no tempo com folga desconhecida,” in Poceedings of the Congresso Bras leiro de Automática, Juiz de Fora, Brazil, 2008.
  34. K. T. Woo, L.-X. Wang, F. L. Lewis, and Z. X. Li, “A Fuzzy system compensator for backlash,” in Proceedings of the IEEE International Conference on Robotics and Automation, vol. 1, pp. 181–186, Leuven, Belgium, May 1998. View at Publisher · View at Google Scholar
  35. P. Skoglar, Modelling and Control of IR/EO-Gimbal for UAV Surveillance Applications, Department of Electrical Engineering, Linköping Institute of Technology, Linköping, Sweden, 2002.
  36. T. L. Liu, The development of a target-lockup optical remote sensing system for unmanned aerial vehicle, M.S. Dissertation, Institute of Aeronautics and Astronautics, National Cheng Kung University, Tainan, Taiwan, 2004.
  37. M. Gruzman, H. I. Weber, and L. L. Menegaldo, “Modeling of a pointing and target tracking system,” in Proceedings of the 13th International Symposium on Dynamic Problems of Mechanics, Angra dos Reis, Brazil, 2009.
  38. M. C. Algrain and J. Quinn, “Accelerometer based line-of-sight stabilization approach for pointing and tracking systems,” in Proceedings of the 2nd IEEE Conference on Control Applications, vol. 1, pp. 159–163, Vancouver, Canada, September 1993.
  39. J. C. Basilio and M. V. Moreira, “State-space parameter identification in a second control laboratory,” IEEE Transactions on Education, vol. 47, no. 2, pp. 204–210, 2004. View at Publisher · View at Google Scholar
  40. M. Hadef, A. Bourouina, and M. R. Mekideche, “Parameter identification of a DC motor using moments method,” International Journal of Electrical and Power Engineering, vol. 1, no. 2, pp. 210–214, 2007. View at Google Scholar
  41. J. O. Jang, H. T. Chung, and I. S. Lee, “Backlash compensation of discrete time systems using fuzzy logic,” in Proceedings of the 40th IEEE Conference on Decision and Control, vol. 4, pp. 3956–3961, Orlando, Fla, USA, December 2001.