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On Dual Compensation to Disturbances and Uncertainties for Inertially Stabilized Platforms

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  • Control Theory and Applications
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Abstract

This paper focuses on disturbances and uncertainties rejection control for the nonminimum-phase inertially stabilized platforms on moving bases, which suffers from serious disturbances and uncertainties. To stabilize the nonminimum-phase system, the standard disturbance-observer-based control method has to sacrifice the stability margins and disturbance rejection. The dual compensation disturbance-observer-based control method is proposed in this paper to ensure a stronger disturbance rejection performance. The two compensators of the proposed method have independent capabilities to reject the disturbances parallelly. The synergic compensators deal with much more disturbances than each of them separately due to their superimposed disturbance rejection. The proposed method doesn’t change the stability margins and tracking capabilities and open-loop characteristics. The analytical tuning laws for the proposed method are presented. The proposed method is verified in typical setups based on the gimbal and inertially stabilized laser control systems. Simulated and experimental results demonstrate that compared with the standard disturbance-observer-based control method, the proposed method can negate much more disturbances without changing the stability margins. The simulation and experimental results show the effectiveness and superiority of our method.

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Author information

Authors and Affiliations

  1. Key Laboratory of Optical Engineering, Chinese Academy of Sciences, Chengdu, 610209, China

    Jiuqiang Deng, Xi Zhou & Yao Mao

  2. Institute of Optics and Electronics, Chinese Academy of Sciences, Chengdu, 610209, China

    Jiuqiang Deng, Xi Zhou & Yao Mao

  3. University of Chinese Academy of Sciences, Beijing, 101408, China

    Jiuqiang Deng, Wenchao Xue & Yao Mao

  4. Academy of Mathematics and Systems Science, Chinese Academy of Sciences, Beijing, 100190, China

    Wenchao Xue

Authors
  1. Jiuqiang Deng
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  2. Wenchao Xue
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  3. Xi Zhou
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  4. Yao Mao
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Corresponding author

Correspondence to Yao Mao.

Additional information

The authors received no financial support for the research.

Jiuqiang Deng was born in Meishan, China, in 1995. He received his B.S. degree from Southwest Jiaotong University in 2017. He is currently pursuing a Ph.D. degree in the Key Laboratory of Beam Control, Institute of Optics and Electronics, Chinese Academy of Sciences. His research interests include disturbance suppression and multi-sensor fusion in the electro-optical inertially stabilized control system.

Wenchao Xue is an Assistant Professor with the Key Laboratory of Systems and Control, Academy of Mathematics and Systems Science, Chinese Academy of Sciences. He received his B.S. degree in applied mathematics from Nankai University, Tianjin, China, in 2007, and a Ph.D. degree in control theory from the Academy of Mathematics and Systems Science, Chinese Academy of Sciences, Beijing, China, in 2012. His research interests include active disturbance rejection control, and filter design for nonlinear uncertain systems.

Xi Zhou was born in ChengDu, China, in 1989. She received her B.S., M.S., and Ph.D. degrees from University of Science and Technology of China, in 2012, 2014, and 2017, respectively. She is recently a research associate in Institute of Optics and Electronics, Chinese Academy of Sciences. Her current research interests include electro-optical robust tracking control and fractional order control.

Yao Mao is a professor and doctor director in the Institute of Optics and Electronics, Chinese Academy of Sciences. He received his B.S. degree from ChongQing University, and a Ph.D. degree in signal processing from the Institute of Optics and Electronics, Chinese Academy of Sciences, in 2001 and 2012, respectively. His current research interests include electro-optical tracking control, servo control, predictive filtering, and machine learning.

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Deng, J., Xue, W., Zhou, X. et al. On Dual Compensation to Disturbances and Uncertainties for Inertially Stabilized Platforms. Int. J. Control Autom. Syst. 20, 1521–1534 (2022). https://doi.org/10.1007/s12555-021-0022-3

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  • DOI: https://doi.org/10.1007/s12555-021-0022-3

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