Impact Factor:7.4

DOI number:10.1109/TIE.2025.3594435

Affiliation of Author(s):仪器科学与光电工程学院

Teaching and Research Group:大科学装置研究院

Journal:IEEE Transactions on Industrial Electronics

Key Words:Mathematical models; Torque; Accuracy; sliding mode control (SMC); Angular velocity; Harmonic analysis; Motors; Control moment gyroscope (CMG); disturbance observer (DOB); Drives; exogenous system; Generators; harmonic drive; kinematic error; Kinematics; Servomotors

Abstract:The torque accuracy of a control moment gyro (CMG) relies heavily on the speed accuracy of the gimbal servo system, where kinematic error from harmonic drive cause significant speed fluctuations. To address this problem, a sliding mode control (SMC) feedback controller based on the disturbance observer (DOB) containing the \mathbfW matrix (WDOB) was proposed. It not only meets the response requirements of the system, but also suppresses the chattering phenomenon of the SMC. Since kinematic error has periodic changes and varies with angular velocity, existing DOBs are ineffective for accurate e

Co-author:Ruidi Chen, Haifeng Zhang, Ximing Liu

First Author:Haitao Li

Indexed by:Journal paper

Discipline:工学

First-Level Discipline:Instrumentation Science and Technology

Document Type:J

Volume:73

Issue:1

Page Number:1313-1321

ISSN No.:1557-9948

Translation or Not:no

Date of Publication:2026-01-01