Abstract
This paper describes a method to suppress the effect of nonlinear and time-varying mass unbalance torque disturbance on the dynamic performances of an aerial inertially stabilized platform (ISP). To improve the tracking accuracy and robustness of the ISP, a compound control scheme based on both of model reference adaptive control (MRAC) and PID control methods is proposed. The dynamic model is first developed which reveals the unbalance torque disturbance with the characteristic of being nonlinear and time-varying. Then, the MRAC/PID compound controller is designed, in which the PID parameters are adaptively adjusted based on the output errors between the reference model and the actual system. In this way, the position errors derived from the prominent unbalance torque disturbance are corrected in real time so that the tracking accuracy is improved. To verify the method, the simulations and experiments are, respectively, carried out. The results show that the compound scheme has good ability in mass unbalance disturbance rejection, by which the system obtains higher stability accuracy compared with the PID method.
Highlights
For an aerial remote sensing system, due to the serious effects of internal and external disturbances, the movement of the aircraft is not ideal that makes the sensor’s line of sight (LOS) jitter, eventually resulting in the degradation of images quality [1,2,3,4]
model reference adaptive control (MRAC)/PID compound control scheme is a combination of adaptive control and traditional PID control, which can make the PID parameters of the nonlinear time-varying uncertain systems adjusted in real time, so as to improve the system robustness and control accuracy
To improve the tracking accuracy and robustness of an aerial inertially stabilized platform, a MRAC/PID compound control scheme is proposed to weaken the influence of prominent unbalance torque disturbance
Summary
For an aerial remote sensing system, due to the serious effects of internal and external disturbances, the movement of the aircraft is not ideal that makes the sensor’s line of sight (LOS) jitter, eventually resulting in the degradation of images quality [1,2,3,4]. The most critical performance metric for an ISP is torque disturbance rejection It is difficult for the conventional PID control method in low speed servo motion to suppress these complex nonlinear disturbances. It is necessary to compensate the mass unbalance torque by using the intelligent control methods which have strong adaptive disturbance rejection ability. MRAC/PID compound control scheme is a combination of adaptive control and traditional PID control, which can make the PID parameters of the nonlinear time-varying uncertain systems adjusted in real time, so as to improve the system robustness and control accuracy. To improve the tracking accuracy and robustness of an aerial inertially stabilized platform, a MRAC/PID compound control scheme is proposed to weaken the influence of prominent unbalance torque disturbance.
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