Adaptive sliding-mode-assisted disturbance observer-based decoupling control for inertially stabilized platforms with a spherical mechanism

doi:10.1049/cth2.12296

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	Adaptive sliding-mode-assisted disturbance observer-based decoupling control for inertially stabilized platforms with a spherical mechanism
	D. P. Tian; M. Y. Wang; F. C. Wang and R. Xu
刊名	Iet Control Theory and Applications
	2022
卷号	16 期号:12 页码:1194-1207
ISSN号	1751-8644
DOI	10.1049/cth2.12296
英文摘要	An inertially stabilized platform (ISP) is a gimbal used to hold a camera. It is essential for isolating the attitude sway during an imaging process. To make the platform more compact, the implementation of an ISP with a spherical mechanism has been proposed. However, this design introduces complex non-linear coupling characteristics, significantly increasing the complexity of control. This study aims to solve this problem and present an algorithm to achieve high-performance inertial stabilization control. To achieve this, kinematic and dynamic models were established, and the proposed control algorithm was then designed in three parts. Gravity compensation control was set up in the internal loop to counter the influence of unbalanced gravity moment. An adaptive sliding-mode-assisted disturbance observer (ASMADO) was also included in the joint space to decouple the influence of complex non-linear characteristics on the platform. Further, a feedback controller was added to the workspace based on the kinematic model. This design simplifies the control algorithm for novel ISPs with a spherical mechanism. It effectively compensates for the complex non-linear characteristics and enables superior inertial stabilization control. Experimental results show that the proposed method effectively decreases the motion isolation error for the line-of-sight of the camera compared to traditional control methods.
URL标识	查看原文
语种	英语
内容类型	期刊论文
源URL	[http://ir.ciomp.ac.cn/handle/181722/66388]
专题	中国科学院长春光学精密机械与物理研究所
推荐引用方式 GB/T 7714	D. P. Tian,M. Y. Wang,F. C. Wang and R. Xu. Adaptive sliding-mode-assisted disturbance observer-based decoupling control for inertially stabilized platforms with a spherical mechanism[J]. Iet Control Theory and Applications,2022,16(12):1194-1207.
APA	D. P. Tian,M. Y. Wang,&F. C. Wang and R. Xu.(2022).Adaptive sliding-mode-assisted disturbance observer-based decoupling control for inertially stabilized platforms with a spherical mechanism.Iet Control Theory and Applications,16(12),1194-1207.
MLA	D. P. Tian,et al."Adaptive sliding-mode-assisted disturbance observer-based decoupling control for inertially stabilized platforms with a spherical mechanism".Iet Control Theory and Applications 16.12(2022):1194-1207.