A MULTI-LAYER RLS-BASED DISTURBANCE COMPENSATION SCHEME FOR VELOCITY CONTROL OF A CONTROL MOMENT GYROSCOPE

摘要

In this paper, a nonlinear disturbance observer (NDOB)-based control framework is designed for controlling the velocity of a gimbal system of a control moment gyroscope (CMG) system. The state observer (SOB) is designed to estimate the velocity by using a multi-layered recursive least squares (RLS) structure for the better identification in real-time. Disturbance is compensated by drift models, which is a function of velocity and acceleration. Consequently, the proposed DOB has a realtime performance in association with the state observer. The proposed method is verified through the experiment.