Abstract
This paper presents a robust controller design with disturbance decoupling and rejection of a two-degree-of-freedom (2-DOF) Inertially Stabilized Platform (ISP). The objective of these mechanisms is to stabilize the line of sight (LOS) of imaging sensors pointing towards a specific target. There is currently tremendous interest in ISP applications in marine systems. Such a harsh environment subjects the imaging sensors to multiple disturbances, which requires the design of robust control strategies to enhance the performances of ISP systems. The controller designed in this study is a double active controller composed of an inner compensator, and a feedback controller designed based on the H∞ framework. The main advantage of the proposed controller is that it can be implemented in real time, with lower computational complexity and good performance. In this paper, a comparative experimental study was conducted between the designed controller and an integral sliding-mode controller (ISMC). The comparison was achieved through two major tasks of ISP systems: motion tracking and target tracking.
Highlights
Imaging sensors, such as radars, cameras, infrared (IR) sensors, lasers, and so forth, are widely used in different fields of industry for different objectives including, for safety, target tracking, astronomical telescopes, obstacle detecting, and more
Depending on the placement of rate sensors on the gimbal system, two methods can be deployed by high-precision controllers to assure the inertial stabilization of the line of sight (LOS)
The authors suggested a new control scheme based on the system dynamics to ensure better stabilization and enhance the tracking performances of a two-axis gimbal system
Summary
Imaging sensors, such as radars, cameras, infrared (IR) sensors, lasers, and so forth, are widely used in different fields of industry for different objectives including, for safety, target tracking, astronomical telescopes, obstacle detecting, and more. To isolate these devices from vehicle motion and external disturbances, Inertially Stabilized Platforms (ISPs) have been introduced. Indirect LOS stabilization is when the angular rate sensor is mounted on the base (vehicle). This results in unmeasured disturbances in the LOS frame, which reduces the robustness of the control scheme. The low level is the servo-control loop, which requires the design of a robust controller for uncertain systems to overcome these uncertainties and model imprecisions
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