Dual rate loop control based on disturbance observer of angular acceleration for a three axis aerial inertially stabilized platform.
This paper presents a dual rate loop control method based on disturbance observer (DOB) of angular acceleration for a three axis ISP for aerial remote sensing applications, by which the control accuracy and stabilization of ISP are improved obviously. In stabilization loop of ISP, a dual rate loop strategy is designed through constituting inner rate loop and the outer rate loop, by which the capability of disturbance rejection is advanced. Further, a DOB based on angular acceleration is proposed to attenuate the influences of the main disturbances on stabilization accuracy. Particularly, an information fusion method is suggested to obtain accurate angular acceleration in DOB design, which is the key for the disturbance compensation. The proposed methods are theoretically analyzed and experimentally validated to illustrate the effectiveness.
ISA transactions