High Precision Control of an Inertially Stabilized Platform for Aerial Remote Sensing Applications

2018 ◽  
Author(s):  
Xiangyang Zhou ◽  
Hao Gao ◽  
Beilei Zhao ◽  
Ruifang Yu ◽  
Libo Zhao
Keyword(s):  
Remote Sensing ◽  
High Precision ◽  
Precision Control ◽  
Sensing Applications ◽  
Remote Sensing Applications ◽  
Aerial Remote Sensing ◽  
Stabilized Platform ◽  
Inertially Stabilized Platform

scholarly journals A High-Precision Control Scheme Based on Active Disturbance Rejection Control for a Three-Axis Inertially Stabilized Platform for Aerial Remote Sensing Applications

2018 ◽  
Vol 2018 ◽  
pp. 1-9 ◽  
Author(s):  
Xiangyang Zhou ◽  
Chao Yang ◽  
Beilei Zhao ◽  
Libo Zhao ◽  
Zhuangsheng Zhu
Keyword(s):  
Disturbance Rejection ◽  
Precision Control ◽  
Sensing Applications ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Control Scheme ◽  
Remote Sensing Applications ◽  
Aerial Remote Sensing ◽  
Stabilized Platform ◽  
Inertially Stabilized Platform

This paper presents a high-precision control scheme based on active disturbance rejection control (ADRC) to improve the stabilization accuracy of an inertially stabilized platform (ISP) for aerial remote sensing applications. The ADRC controller is designed to suppress the effects of the disturbance on the stabilization accuracy that consists of a tracking differentiator, a nonlinear state error feedback, and an extended state observer. By the ADRC controller, the effects of both the internal uncertain dynamics and the external multisource disturbances on the system output are compensated as a total disturbance in real time. The disturbance rejection ability of the ADRC is analyzed by simulations. To verify the method, the experiments are conducted. The results show that compared with the conventional PID controller, the ADRC has excellent capability in disturbance rejection, by which the effect of main friction disturbance on the control system can be weakened seriously and the stabilization accuracy of the ISP is improved significantly.

An integral sliding mode controller based disturbances rejection compound scheme for inertially stabilized platform in aerial remote sensing

2017 ◽  
Vol 232 (5) ◽  
pp. 932-943
Author(s):  
Xiangyang Zhou ◽  
Yuan Jia ◽  
Yong Li
Keyword(s):  
Remote Sensing ◽  
Sliding Mode ◽  
Measurement Unit ◽  
Sliding Mode Controller ◽  
Parameter Uncertainties ◽  
Integral Sliding Mode ◽  
Nonlinear Disturbances ◽  
Aerial Remote Sensing ◽  
Stabilized Platform ◽  
Inertially Stabilized Platform

An integral sliding mode controller based disturbance rejection compound scheme is proposed to attenuate the influences of nonlinear disturbances and parameter uncertainties on stability accuracy of the three-axis inertially stabilized platform for the aerial remote sensing applications. The compound scheme is composed of an integral sliding mode controller and a disturbance measurement unit. The integral sliding mode controller is used to ensure robust stability against exterior nonlinear disturbances and parameter uncertainties, in which the saturation function is employed to reduce the chattering. The disturbance measurement unit is served as the disturbance measurement components of the rate loop and current loop of three closed-loop structure in the inertially stabilized platform control system, by which the interior high-frequency disturbances are compensated in real time. To verify the method, simulations and experiments are conducted. In simulations, the LuGre friction model is introduced to analyze the effects of disturbances. Further, a series of experiments are carried out. The results show that the compound scheme has excellent ability in both of disturbances rejection and robust stabilization, by which the stability accuracy of the inertially stabilized platform is improved significantly.

scholarly journals An Improved Fuzzy Neural Network Compound Control Scheme for Inertially Stabilized Platform for Aerial Remote Sensing Applications

2018 ◽  
Vol 2018 ◽  
pp. 1-15 ◽  
Author(s):  
Xiangyang Zhou ◽  
Yating Li ◽  
Yuan Jia ◽  
Libo Zhao
Keyword(s):  
Disturbance Rejection ◽  
Fuzzy Neural Network ◽  
Variable Universe ◽  
Compound Control ◽  
Sensing Applications ◽  
Control Scheme ◽  
Fuzzy Neural ◽  
Remote Sensing Applications ◽  
Stabilized Platform ◽  
Inertially Stabilized Platform

An improved fuzzy neural network (FNN)/proportion integration differentiation (PID) compound control scheme based on variable universe and back-propagation (BP) algorithms is proposed to improve the ability of disturbance rejection of a three-axis inertially stabilized platform (ISP) for aerial remote sensing applications. In the design of improved FNN/PID compound controller, the variable universe method is firstly used for the design of the fuzzy/PID compound controller; then, the BP algorithm is utilized to finely tune the controller parameters online. In this way, the desired performances with good ability of disturbance rejection and high stabilization accuracy are obtained for the aerial ISP. The simulations and experiments are, respectively, carried out to validate the improved FNN/PID compound control method. The results show that the improved FNN/PID compound control scheme has the excellent capability in disturbance rejection, by which the ISP’s stabilization accuracy under dynamic disturbance is improved significantly.

scholarly journals OVERVIEW OF UAV ACTIVITIES IN WAGENINGEN UNMANNED AERIAL REMOTE SENSING FACILITY

2015 ◽  
Vol XL-1/W4 ◽  
pp. 261-262 ◽  
Author(s):  
J. Suomalainen ◽  
N. Anders ◽  
J. Franke ◽  
H. Bartholomeus ◽  
C. Nolet ◽  
...  
Keyword(s):  
Remote Sensing ◽  
Research Centre ◽  
Camera Systems ◽  
Sensing Applications ◽  
Remote Sensing Applications ◽  
Aerial Remote Sensing

The WUR <i>Unmanned Aerial Remote Sensing Facility</i> (UARSF) (<a href="www.wageningenur.nl/uarsf"target="_blank">www.wageningenur.nl/uarsf</a> ) is a co-operation organization of different groups within Wageningen University and Research Centre to use UAVs in remote sensing applications. The facility was founded in 2012. Since then the facility has taken part in numerous of mapping campaigns exploiting UAVs with researchers with in WUR as well as external cooperating partners. In this paper/poster we present the facility, the UAV platforms, the camera systems, and demonstrate some highlights of our results.

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