Extended state observer/proportion integration differentiation compound control based on dynamic modelling for an aerial inertially stabilized platform

Abstract

This article presents an extended state observer/proportion integration differentiation compound control scheme based on dynamic modelling for a three-axis inertially stabilized platform applied for aerial remote sensing. To reveal the effects of dynamic couplings among different gimbals and the base on the system control performance, the dynamic modelling of the inertially stabilized platform system is developed. Then, an extended state observer /proportion integration differentiation composite controller is designed to improve the tracking precision and stability of the inertially stabilized platform, whose disturbance rejection ability is analysed by simulations. During simulation analysis, the LuGre friction model is introduced to represent the effects of main disturbance torques. To verify the method, the experiments are conducted. The results show that the extended state observer/proportion integration differentiation compound scheme has excellent capability in disturbance rejection, by which the stabilization accuracy of the inertially stabilized platform has improved significantly.

Application-oriented type synthesis and coupling kinematics analysis of a 1Rx2Tyz parallel stabilized platform for tunnel detection system

“…The role of simulation program is to provide simulation signal for external perturbation of vehicle and movement of moving platform. Then the displacement, velocity, and acceleration of moving platform relative to inertial system can be obtained by equations (10), (13), and (14), respectively, and the displacement, velocity, and acceleration can be further calculated by equations (15), (17), and (18), respectively. Meanwhile, a detection branch is installed among actuated branches to obtain posture of moving platform.…”

“…The role of stabilized platform is to isolate external perturbations through a set of real-time compensation mechanism and provide a relatively stable environment for devices on plane, ship, and vehicle. 17,18 However, most of the existing stabilized platforms are two-axis or three-axis serial mechanisms, which are mainly used for attitude stability. Parallel mechanisms (PMs) are easy to realize spatial multi-axis compensation, which have advantages such as multi-degree of freedom (DOF) output and large movement range compared to serial mechanisms.…”

Model-Free Control Using Improved Smoothing Extended State Observer and Super-Twisting Nonlinear Sliding Mode Control for PMSM Drives

“…Han proposed a nonlinear extended state observer (ESO) [6]. Because of its simple structure and high estimation efficiency, the nonlinear ESO has been widely used in many applications such as welding robot [7], linear system with incipient fault [8], aerial inertially stabilized platform [9], teleoperated robotic system [10] and so on. The sliding mode controller (SMC) strategy has become an important research branch in the field of automatic control.…”

A Novel Tuning Method of PD With Gravity Compensation Controller for Robot Manipulators

“…To satisfy the control objectives, it has been developed different control techniques, such as PID [7]- [9], sliding mode control (SMC) [10]- [12], neural networks [13], intelligent techniques [14], [15] or even linear controllers [2], [16]. Each algorithm is capable to compensate the gravitational term and robustify the control law.…”