Abstract
This paper focuses on the disturbance rejection control problem for inertial stabilization of long-distance laser positioning with the movable platform. Due to various disturbances of the movable platform, the positioning system has significant disturbances that affect the positioning accuracy. Moreover, the nonminimum-phase property of the inertial stabilization system leads to great challenges for designing traditional disturbance-observer-based as well as rejection control methods. In this paper, a dual-compensator disturbance-observer-based control algorithm is proposed to ensure a much stronger rejection of disturbances than those of conventional methods. In particular, it is proven that the two compensators in the proposed method effectively estimate disturbances in different frequency regions. Furthermore, the analytical tuning laws for the proposed dual-compensator disturbance-observer-based control method are presented. The experimental setup including the laser positioning platform demonstrated the validity of the proposed method, which effectively rejected various disturbances.
Highlights
The long-distance laser positioning (LDLP) system is promising in various fields, such as quantum communication, adaptive optics, large-scale measurement, and long-distance laser communication.[1,2,3,4,5,6] Laser light is used as the carrier of the message or beacon in the systems
The positioning accuracy of the inertially stabilized laser beam in the LDLP system suffers from many serious disturbances, especially when the long-distance laser communication (LDLC) systems are installed on movable platforms
We propose a dual-compensator disturbance-observer-based control (DC-DOBC) algorithm, which can be plugged into an existing inertial feedback loop
Summary
The long-distance laser positioning (LDLP) system is promising in various fields, such as quantum communication, adaptive optics, large-scale measurement, and long-distance laser communication.[1,2,3,4,5,6] Laser light is used as the carrier of the message or beacon in the systems. 2. there is still a nonminimum-phase property in the ISP control system, both compensators in the DC-DOBC method have different stability restrictions and disturbance estimation capabilities in this paper. When the DC-DOBC method satisfies the stability restrictions, equation (18) can be obtained according to Lemma 1 in section ‘‘Stability analysis.’’ the disturbance transfer function DTFDCDOBC(s) can be expressed as follows. The filter Q(s) of the DOBC can only estimate and reject the disturbances in the intermediate-frequency band, which is limited by the stability restriction.[40] the nominal plant G^a(s) still has a nonminimum-phase property in the DC-DOBC method, Cf1(s) and Cf2(s) have different stability restrictions. The DC-DOBC method with dual compensators can estimate and reject the disturbances in different frequency bands simultaneously.
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