Closed-Loop Subspace Predictive Control of Gyroscope

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS(2024)

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摘要
Control moment gyroscope (CMG) is used in many applications, especially related to spacecraft navigation. Hence, the trajectory tracking problem of the CMG control is important and worth researching. To address this problem, a closed-loop subspace predictive control of the gyroscope is presented in this article. The proposed control technique constructs an auxiliary variable based on the known controller information. The constructed auxiliary variable assists to handle the inherent correlation between control inputs and noises in the closed-loop system. Additionally, an unbiased prediction of the system output is obtained to calculate the optimal control input. The theoretical analysis of the recursive feasibility and stability of the proposed control technique is also provided. Ultimately, the effectiveness of the proposed control technique is verified on a real-time experimental platform of the CMG. The experimental results demonstrate the improved trajectory tracking and predictive performance of the proposed control technique. Overall, this article provides a solution for the trajectory tracking problem of the CMG control.
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关键词
Closed-loop system,control moment gyroscope (CMG),predictive control,real-time experiment,subspace-aided method,trajectory tracking
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