Abstract
In order to reduce the influence of frictional interference and measurement noise on stabilized platform tracking performance, disturbance observer (DOB) is applied to platform servo system. In view of the non-ideal performance of classical disturbance observer about suppressing measurement noise, a novel improved DOB which uses an additional control signal to compensate system outputs is proposed based on the structure of classical DOB, and robust stability of the improved DOB when existing model perturbation is analyzed in detail. Simulation results show that the improved DOB can suppress external disturbances and model perturbation well, and the suppression performance of measurement noise is improved, too.
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