Robust control with compensation of adaptive model for dual-stage inertially stabilized platform

Novel generalized predictive control (GPC) is proposed to deal with the problems of cumulative deviation of the predicted value, long control process and large noise that often encountered in conventional GPC. First, the objective function of GPC is improved based on integral time square error (ITSE) criterion, and the output expression under soft constraint is deduced. Then, the predicted value is corrected by adopting the integral weighting method, the convergence of which is demonstrated. Finally, both the simulations and hardware experiments are conducted in a practical photoelectric tracking system. It turns out that the superiority of the improved GPC in control precision, dynamic response and robustness is verified. INDEX TERMS Generalized predictive control (GPC), integral time square error (ITSE) criterion, objective function, photoelectric tracking system, prediction correction.

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A Novel Loop Control Method of Full Attitude Inertial Stabilization Platform

Zhao

2019

2019 4th International Conference on Robotics and Automation Engineering (ICRAE)

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Robust control with compensation of adaptive model for dual-stage inertially stabilized platform

Cited by 6 publications

References 22 publications

Robust sliding mode control for uncertain networked control system with two-channel packet dropouts

Robust sliding mode control for uncertain networked control system with two-channel packet dropouts

Novel Generalized Predictive Control for Photoelectric Tracking System Based on Improved Objective Function and Predictive Value Correction

A Novel Loop Control Method of Full Attitude Inertial Stabilization Platform

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