X-Shaped Structure-Based Modeling and Control for a Stable Platform with a Series Elastic Actuator

Abstract

Stable platforms are widely used in many fields to keep the environment stable for the load under the influence of the motion of the craft and other carriers. However, its stability has always been an important and serious challenge for researchers. In order to further improve its shock absorption performance, a dynamic model based on the stable platform with the series elastic actuator (SEA) is established. Meanwhile, a dynamic reference trajectory based on the X-shaped structure is designed for ignorance of the beneficial nonlinearity in the fixed reference trajectory of the stable platform. In addition, a backstepping control method is proposed to accomplish stronger and faster stabilization with more robustness. Simulations are carried out, and the effectiveness of the proposed method is verified by comparative simulations with a PID controller.