Robust Output Feedback Tracking Control for Inertially Stabilized Platforms With Matched and Unmatched Uncertainties

Safa, Alireza; Abdolmalaki, Reza Yazdanpanah

doi:10.1109/tcst.2017.2761324

Cited by 38 publications

(17 citation statements)

References 25 publications

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“…where T i is equivalent inertia time constant, and f d is equivalent friction coefficient. To accurately describe the dynamic characteristics of the ISP, the Stribeck or LuGre friction model is usually used [24], [27]. According to the friction model, we have…”

Section: Dynamic Model Of the Isp Systemmentioning

confidence: 99%

“…Recently ADRC strategy has been applied in ISP control system [22], [23]. And [24] combine ESO and robust control to achieve high-precision tracking control of ISP. In this paper, ADRC will be applied to the stability control of ISP to suppress nonlinear friction, install unbalanced torque, parameter uncertainty and external torque disturbance and to improve the response speed to gyroscope and tracking inputs.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Stabilization Control Mothed for Two-Axis Inertially Stabilized Platform Based on Active Disturbance Rejection Control With Noise Reduction Disturbance Observer

Wang

Liu

et al. 2019

IEEE Access

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To improve the stability accuracy of two-axis inertially stabilized platform (ISP) for airborne star tracker application, a stable control method based on active disturbance rejection control (ADRC) is presented to handle the system nonlinearities, parameter uncertainties, and disturbances. A noise reduction method based on a modified disturbance observer (DOB) structure is proposed to suppress sensor noise and improve anti-disturbance capability and rapidity. Moreover, the robust stability of the proposed method is discussed. To illustrate the effectiveness of the proposed method, simulations and laboratory experiments are implemented. Finally, the vehicle tracking star experiments are performed. In addition, the contrast results show that for the two-axis ISP the presented controller has superior performance in anti-jamming ability, rapidity, and isolation.

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Section: Dynamic Model Of the Isp Systemmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Stabilization Control Mothed for Two-Axis Inertially Stabilized Platform Based on Active Disturbance Rejection Control With Noise Reduction Disturbance Observer

Wang

Liu

et al. 2019

IEEE Access

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show abstract

“…The ISIS isolates nonideal angle disturbances and maintains the line of sight (LOS) of stabilized optical sensors [3]. It is generally affected by disturbance factors, including internal disturbances caused by mass imbalance torque [4], friction torque [5], and cable restraint torque [6], and by external disturbances caused by carrier motion or vibration. Moreover, when environment change occurs, system parameters vary.…”

Section: Introductionmentioning

confidence: 99%

Terminal Sliding Mode Control with a Novel Reaching Law and Sliding Mode Disturbance Observer for Inertial Stabilization Imaging Sensor

Che

Tian

Jia

et al. 2020

Sensors

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High-performance control of inertial stabilization imaging sensors (ISISs) is always challenging because of the complex nonlinearities induced by friction, mass imbalance, and external disturbances. To overcome this problem, a terminal sliding mode controller (TSMC) based on a novel exponential reaching law (NERL) method with a high-order terminal sliding mode observer (HOTSMO) is suggested. First, the TSMC based on NERL is adopted to improve system performance. The NERL incorporates the power term and switching gain term of the system state variables into the conventional exponential reaching law, and the convergent speed of the TSMC is accelerated. Then, an HOTSMO is designed, which considers the speed and lumped disturbances of the system as the observation object. The estimated disturbance is then provided as a compensation for the controller, which enhances the disturbance rejection ability of the system. Comparative simulation and experimental results show that the proposed method achieves the best tracking performance and the strongest robustness than PID and the traditional TSMC methods.

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“…In the normal three-axis ISP, the roll, pitch, and yaw gimbals are supported by mechanical bearings and gears [7]. It is possible that the friction of the mechanical bearing and gear affects the attitude stabilization precision of supported gimbals [8][9][10][11]. In addition, the disturbances could be transferred from the pitch and roll gimbals to the yaw gimbal such that the attitude stabilization precision of yaw gimbal is reduced [12][13][14].…”

Section: Introductionmentioning

confidence: 99%

Coupling Analysis and Cross-Feedback Control of Three-Axis Inertially Stabilized Platform with an Active Magnetic Bearing System

Tong

Xiang

Wong

2020

Shock and Vibration

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An active magnetic bearing (AMB) system is used to suspend the yaw gimbal of three-axis inertially stabilized platform (ISP) to minimize the friction. The dynamic functions of three gimbals in ISP are developed. The base coupling at dynamic base plate is stronger than that at static base plate, and the gimbal coupling among three gimbals increases with the number of unlocked gimbals. Therefore, a cross-feedback control scheme is designed to minimize the base coupling and the gimbal coupling, and then the multi-input multioutput system of three-axis ISP with coupling terms is simplified into three decoupled single-input single-output systems. Experimental results verify that the yaw gimbal suspended by AMB system has better vibration isolation ability than the roll gimbal supported by mechanical bearing, and the gimbal coupling and the base coupling are effectively suppressed by the cross-feedback control scheme.

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Robust Output Feedback Tracking Control for Inertially Stabilized Platforms With Matched and Unmatched Uncertainties

Cited by 38 publications

References 25 publications

Stabilization Control Mothed for Two-Axis Inertially Stabilized Platform Based on Active Disturbance Rejection Control With Noise Reduction Disturbance Observer

Stabilization Control Mothed for Two-Axis Inertially Stabilized Platform Based on Active Disturbance Rejection Control With Noise Reduction Disturbance Observer

Terminal Sliding Mode Control with a Novel Reaching Law and Sliding Mode Disturbance Observer for Inertial Stabilization Imaging Sensor

Coupling Analysis and Cross-Feedback Control of Three-Axis Inertially Stabilized Platform with an Active Magnetic Bearing System

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