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Modeling and nonlinear computed torque control of ship-mounted mobile satellite communication system

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Abstract

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.

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Authors and Affiliations

  1. School of Automation, Nanjing University of Science and Technology, Nanjing, 210094, China

    Jun Jiang, Jian Guo & Qing-Wei Chen

  2. School of Mechanical Engineering, Purdue University, West Lafayette, IN, 47907, USA

    Bin Yao

  3. State Key Laboratory of Fluid Power Transmission and Control, Zhejiang University, Hangzhou, 310027, China

    Bin Yao

Authors
  1. Jun Jiang
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  2. Bin Yao
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  3. Jian Guo
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  4. Qing-Wei Chen
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Corresponding author

Correspondence to Jun Jiang.

Additional information

This work is supported by National Natural Science Foundation of China (Nos. 61074023 and 60975075), Natural Science Foundation of Jiangsu Province of China (No.BK2008404), Science and Technology Pillar Program of Jiangsu Province of China (No.BE2009160), and Innovation Project of Graduate Students of Jiangsu Province of China (No.CXZZ 0254).

Jun Jiang is currently a Ph. D. candidate in the School of Automation at Nanjing University of Science & Technology in China, from which he received his B.Eng. degree in 2007.

His research interests include precision servo system, adaptive control, robust control and nonlinear systems.

Bin Yao received his Ph.D. degree in mechanical engineering from University of California at Berkeley in February 1996 after obtaining the M.Eng. degree in electrical engineering from Nanyang Technological University, Singapore in 1992, and the B. Eng. degree in applied mechanics from Beijing University of Aeronautics and Astronautics, China in 1987. He has been with the School of Mechanical Engineering at Purdue University since 1996 and promoted to the rank of professor in 2007. He was honored as a Kuang-Piu professor at Zhejiang University, China in 2005. And he became a Chang Jiang Chair Professor at Zhejiang University in 2010.

Dr.Yao was awarded a Faculty Early Career Development (CAREER) Award from the National Science Foundation (NSF) in 1998 and a Joint Research Fund for Outstanding Overseas Chinese Young Scholars from the National Natural Science Foundation of China (NSFC) in 2005. He is the recipient of the O. Hugo Schuck Best Paper (Theory) Award from the American Automatic Control Council in 2004 and the Outstanding Young Investigator Award of ASME Dynamic Systems and Control Division (DSCD) in 2007. He has chaired numerous sessions and served in the international program committee of various IEEE, ASME, and IFAC conferences. From 2000 to 2002, he was the Chair of the Adaptive and Optimal Control Panel, and from 2001 to 2003, the Chair of the Fluid Control Panel of the ASME Dynamic Systems and Control Division (DSCD). He is currently the Vice-Chair of the ASME DSCD Mechatronics Technical Committee. He was a technical editor of the IEEE/ASME Transactions on Mechatronics from 2001 to 2005, and has been an associate editor of the ASME Journal of Dynamic Systems, Measurement, and Control since 2006. More detailed information can be found at: https://engineering.purdue.edu/~byao/.

His research interests include adaptive control, robust control, automotive control, optimal control and robotics.

Jian Guo received his Ph.D. and B. Eng. degrees from Nanjing University of Science & Technology, China in 2002 and 1997, respectively. Since 2002, he has been with the School of Automation, Nanjing University of Science & Technology, China and was promoted to an associate professor in 2005.

His research interests include intelligent control, adaptive control, motion control and robot control.

Qing-Wei Chen received his Ph.D. and M.Eng. degrees from Nanjing University of Science & Technology, China in 2005 and 1988, respectively, after obtaining the B. Eng. degree from Jiangsu Institute of Technology in 1985. Since 1988, he has been with the School of Automation, Nanjing University of Science & Technology, China and was promoted to a senior engineer in 1995 and a professor in 2001.

His research interests include servo system control and robot technology.

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Jiang, J., Yao, B., Guo, J. et al. Modeling and nonlinear computed torque control of ship-mounted mobile satellite communication system. Int. J. Autom. Comput. 9, 459–466 (2012). https://doi.org/10.1007/s11633-012-0667-8

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  • DOI: https://doi.org/10.1007/s11633-012-0667-8

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