Automatic Leveling Algorithm for a Three-Degree-of-Freedom Air-Floating Platform with Uncertain Inertia
Journal Title: Journal of Intelligent Systems and Control - Year 2024, Vol 3, Issue 4
Abstract
A three-degree-of-freedom air-floating simulation platform is commonly used for attitude maneuver simulation and control system design. To reduce the impact of gravity on the air-floating platform, adjustments must be made to the platform's center of mass so that it coincides as closely as possible with the center of rotation (CR). For larger three-degree-of-freedom platforms, it is often different to easily obtain the moment of inertia, which presents challenges for automatic leveling. In response to this issue, an automatic leveling method was proposed in this study. This method utilizes attitude and angular velocity information, and during the leveling process, only a linear motion mechanism is required to drive a mass block for adjustment. An analysis of the uncertainties present in the model was conducted, and the uncertainties in the system were processed separately. Adaptive control techniques were then applied to design the control method. The stability of the system was demonstrated through the Lyapunov stability theorem. Finally, the algorithm was tested on a three-degree-of-freedom air-floating platform. The experimental results showed that the proposed method can achieve rapid and effective leveling of the platform.
Authors and Affiliations
Qingtao Hou, Xuexu Yuan, Junwei Zhao, Yuanyuan Zhang, Hanyu Gao, Xiaowei Fu
Keywords
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- EP ID EP759846
- DOI https://doi.org/10.56578/jisc030401
- Views 11
- Downloads 0
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