Composite Hierarchical Anti-Disturbance Control with Multisensor Fusion for Compact Optoelectronic Platforms.

Ming Dai,Dapeng Tian,Yutang Wang

doi:10.3390/s18103190

Abstract

In the aerospace field, compact optoelectronic platforms (COPs) are being increasingly equipped on unmanned aircraft systems (UAS). They assist UAS in a range of mission-specific tasks such as disaster relief, crop testing, and firefighting. However, the strict constraint of structure space makes COPs subject to multi-source disturbances. The application of a low-cost and low-precision sensor also affects the system control performance. A composite hierarchical anti-disturbance control (CHADC) scheme with multisensor fusion is explored herein to improve the motion performance of COPs in the presence of internal and external disturbances. Composite disturbance modelling combining the characteristic of wire-wound moment is presented in the inner layer. The adaptive mutation differential evolution algorithm is implemented to identify and optimise the model parameters of the system internal disturbance. Inverse model compensation and finite-time nonlinear disturbance observer are then constructed to compensate for multiple disturbances. A non-singular terminal sliding mode controller is constructed to attenuate disturbance in the outer layer. A stability analysis for both the composite disturbance compensator and the closed-loop system is provided using Lyapunov stability arguments. The phase lag-free low-pass filter is implemented to interfuse multiple sensors with different order information and achieve satisfactory noise suppression without phase lag. Experimental results demonstrate that the proposed CHADC strategy with a higher-quality signal has an improved performance for multi-source disturbance compensation.

Highlights

The continuing rapid development of unmanned aircraft systems (UAS) in the aerospace field has led its essential component, namely optoelectronic platforms, to evolve to a more compact and flexible type
The nonlinear function in active disturbance rejection control (ADRC) exhibits a good anti-disturbance performance and can improve the dynamic performance of practical systems [16]
Motivated by the idea of the CHADC scheme, this study proposes a composite hierarchical anti-disturbance control strategy for Compact optoelectronic platforms (COPs)

Summary

Introduction

The continuing rapid development of unmanned aircraft systems (UAS) in the aerospace field has led its essential component, namely optoelectronic platforms, to evolve to a more compact and flexible type. A few focused on the specific impact of high-moment wire-wound disturbance on the accuracy and dynamic performance of COPs and targeted disturbance compensation and control method. Motivated by the idea of the CHADC scheme, this study proposes a composite hierarchical anti-disturbance control strategy for COPs. In the inner layer, it combines a feed-forward inverse model compensation based on parameter identification with the adaptive mutation differential evolution (MDE) algorithm and a finite-time nonlinear disturbance observer to compensate for multiple disturbances. Through composite disturbance estimation and compensation, the NTSM controller may take a smaller value for switching gain without sacrificing the disturbance suppression effect and chattering reduction This hierarchical structure simplifies the design method, and improves the control performance of the system.

Modelling of the Compact Optoelectronic Platform

Control Strategy Design of Composite Hierarchical Anti-Disturbance Control

Finite-Time Disturbance Observer

Phase Lag-Free Sensor Filter

Implementation of the Experimental System

Sensor Data Processing

Internal Disturbance Model Identification

Disturbance Compensation Performance under Multiple Disturbances

Performance of the Proposed CHADC for COPs

Conclusions