A Novel Disturbance Estimation and Compensation Approach Applied to Three-Axis Inertially Stabilized Platform

Chen, Linzhouting; Mu, Quanqi

doi:10.1109/imcec.2018.8469701

Cited by 3 publications

(1 citation statement)

References 3 publications

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“…In the literature, PID-based controller solutions have also been proposed for gimbal systems. In [1], the authors propose a disturbance observer in conjunction with a classical PID cascade scheme for angular position tracking of the gimbal axes to enhance the low accuracy and bad disturbance rejection that affect PID controllers. A different approach to PID control of gimbal systems is applied in [2].…”

Section: Related Literaturementioning

confidence: 99%

LPV Control and Virtual-Sensor-Based Fault Tolerant Strategies for a Three-Axis Gimbal System

Medero

Puig

2022

Sensors

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This paper deals with the LPV control of a three-axis gimbal including fault-tolerant capabilities. First, the derivation of an analytical model for the considered system based on the robotics Serial-Link (SL) theory is derived. Then, a series of simplifications that allow obtaining a quasi-LPV model for the considered gimbal is proposed. Gain scheduling LPV controllers with PID structure are designed using pole placement by means of linear matrix inequalities (LMIs). Moreover, exploiting the sensor redundancy available in the gimbal, a virtual-sensor-based fault tolerant control (FTC) strategy is proposed. This virtual sensor uses a Recursive Least Square (RLS) estimation algorithm and an LPV observer for fault detection and estimation. Finally, the proposed LPV control scheme including the virtual sensor strategy is tested in simulation in several scenarios.

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Section: Related Literaturementioning

confidence: 99%

LPV Control and Virtual-Sensor-Based Fault Tolerant Strategies for a Three-Axis Gimbal System

Medero

Puig

2022

Sensors

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Decoupling Control and Omnidirectional Stabilization of Line-of-Sight for a 3-DOF Optoelectronics System with Mirror

Xie¹,

Wang²,

Liu³

et al. 2022

2022 China Automation Congress (CAC)

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Imaging Attitude Control and Image Motion Compensation Residual Analysis Based on a Three-Axis Inertially Stabilized Platform

et al. 2021

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The airborne area camera has received broad application in aerial reconnaissance, land resource surveying, environmental monitoring, photogrammetry mapping, and natural disaster information acquisition. A three-axis, inertially stabilized platform with a large rotation range for the roll axis is designed, which is based on the cantilever structure, in order to realize a large-angle sweep imaging function for airborne area cameras. An image attitude control algorithm in the inertial space is proposed, which can regulate the line of sight (LOS) as well as the image orientation. The area camera image motion calculation model and image motion compensation residual computing method are proposed, utilizing space position and velocity vector transformation mathematics and derivations. The variation of linear velocity of the image motion in the sensor frame is analyzed, and the changing laws of the maximum deviation of image motion with the image attitude are studied. Flight tests imply that the vertical imaging technique correctly regulates the LOS along the local geodetic vertical. The along-flight overlap rate is greater than 65%, which meets the stereo mapping requirement. The sweep imaging technique considerably enlarges the cross-flight angle of view. The LOS and image orientation during sweep imaging are correctly controlled, and gap-free coverage of the survey area is maintained. The image’s azimuth or roll deviation is less than 0.1°, and the image pitch deviation is less than 0.35°. The quality of the test images is superior. Black and white line pairs for evaluation can be clearly distinguished. The image’s motion is well compensated, and the image motion compensation residual is well constrained. These verify the validity of the proposed imaging technique and the image motion analysis model.

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A Novel Disturbance Estimation and Compensation Approach Applied to Three-Axis Inertially Stabilized Platform

Cited by 3 publications

References 3 publications

LPV Control and Virtual-Sensor-Based Fault Tolerant Strategies for a Three-Axis Gimbal System

LPV Control and Virtual-Sensor-Based Fault Tolerant Strategies for a Three-Axis Gimbal System

Decoupling Control and Omnidirectional Stabilization of Line-of-Sight for a 3-DOF Optoelectronics System with Mirror

Imaging Attitude Control and Image Motion Compensation Residual Analysis Based on a Three-Axis Inertially Stabilized Platform

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