ORIENTATION CONTROL OF A 3-D UNDERACTUATED DRILL MACHINE BASED ON DISCRETE-TIME EQUIVALENT MODEL

Mohammad B. Malik, Fahad M. Malik, and Khalid Munawar

Keywords

Underactuated systems, sampleddata control, discretetime equivalent models, orientation control mechanisms

Abstract

A discrete-time control scheme is presented for orientation (pitch and yaw) control of an underactuated drill machine. The desired orientation can be achieved by control pulses generated by a single pair of electromagnetic poles at specific roll instants. The discrete-time controller has to determine the magnitude and phase of these control pulses for orientation control. The magnitude of control pulses is determined using control law designed on the basis of a fully actuated and time invariant discrete-time equivalent model of this system. The phase of control pulses depends upon the system states. The discrete-time controller decides about the phase using predicted states to compensate for non-causality of the actuation mechanism. Convergence analysis and simulations of the closed-loop system show that desired orientation control is achieved using the proposed controller.

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