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
	2022
发表期刊	Iet Control Theory and Applications
ISSN	1751-8644
卷号	16 期号:12 页码:1194-1207
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.
DOI	10.1049/cth2.12296
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收录类别	sci ; ei
语种	英语
引用统计
文献类型	期刊论文
条目标识符	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.

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