An Anti-Windup Method Based on an LADRC for Miniaturized Inertial Stabilized Platforms on Unmanned Vehicles in Marine Applications

Abstract

This paper investigates an anticipatory activation anti-windup approach based on Linear Active Disturbance Rejection Control (LADRC) to address the influences of accelerated saturation on the actuators in a Miniaturized Inertial Stabilized Platform (MISP) with extreme external disturbance. The proposed method aims to eliminate the high-frequency vibrations on the Line of Sight (LOS) of electro-optical devices during actuator saturation. To achieve this, the Linear Extended State Observer (LESO) is modified by adding saturation feedback to the total disturbance observed state variable, which is operated as an anticipatory activation anti-windup compensator. The stability of the proposed controller is discussed, and the gains are optimized by the Linear Matrix Inequality (LMI) constraints though quadratic programming and an H-infinite performance indicator. Additionally, as the multiple activated scheme for anti-windup, the effectiveness of immediate activation in dealing with accelerated saturation is compared and analyzed. These comparisons and verification are implemented through simulations, where the external disturbance is introduced using recorded attitude data from USV sailing. Finally, experiments are conducted on an MISP for a visual tracking system, demonstrating that the anticipatory activation mothed effectively suppresses high-frequency vibrations on the LOS during instances of accelerated saturation.