Non-model friction disturbance compensation for an inertially stabilized platform based on type-2 fuzzy control with self-adjusting correction factor

Abstract

To decrease the effect of nonlinear friction disturbance on the control accuracy of the inertially stabilized platform (ISP) for aerial remote sensing applications, a non-model friction compensation method based on type-2 fuzzy control (T-2 FC) is proposed. To improve the controller’s adaptability, an online complex self-adjusting correction factor method is designed, in which both the fuzzy regulator and the improved integral time absolute error method are combined to adjust the weighting factor and the quantitative factor of the T-2 FC online, respectively. In this way, the nonlinear friction disturbance error is compensated in real-time to obtain high system control accuracy. The experimental results show that compared with traditional PID control and the single T-2 FC, the proposed T-2 FC with self-adjusting correction factor has better disturbance rejection capability to the nonlinear friction disturbance. The ISP has seen a tremendous improvement in both stability and control precision.