Vibration Rejection and Stabilization Control for an Inertial Stabilization System

2014 ◽  
Vol 619 ◽  
pp. 273-277
Author(s):  
Viboon Sangveraphunsiri ◽  
Kritsanun Malithong
Keyword(s):  
Disturbance Rejection ◽  
Pitch Angle ◽  
Controller Design ◽  
Sliding Mode ◽  
Line Of Sight ◽  
Stabilization System ◽  
Stabilization Control ◽  
Aerial Vehicle ◽  
Reference Input ◽  
Disturbance Torque

This paper presents a controller design of a 2-DOF inertial stabilization system. The line of sight (LOS) stabilization and sliding mode control are used for compensation of the nonlinearities and disturbances from the environment. And it proposes an acceleration feedforward for solving the unbalance torque. The disturbance torque from unbalance mass of gimbal structure is unavoidable under the effect of the vibration of the aerial vehicle. Since the acceleration of the aerial carrier can be measured, a feedforward disturbance rejection can be generated to compensate the disturbance torque. The experimental results demonstrate the performance of the controller, the disturbance is in the form of shaking the base's gimbal. The controller can track the reference input in the elevation axis and reject the base rate disturbance while maintaining its LOS direction. The error of pitch angle less than 0.02 rad, so the camera can track a specified point on an object.

Combined Feedback and Feedforward Control for an Inertial Stabilization System

2013 ◽  
Vol 415 ◽  
pp. 101-108
Author(s):  
Kritsanun Malithong ◽  
Viboon Sangveraphunsiri
Keyword(s):  
Disturbance Rejection ◽  
Sliding Mode ◽  
Feedforward Control ◽  
Design Procedure ◽  
Stabilization System ◽  
Model Uncertainties ◽  
Configuration Change ◽  
Aerial Vehicle ◽  
The Impact ◽  
Disturbance Torque

This paper presents environmental disturbance rejection in a 2-DOF inertial stabilization system by a combination of feedback and feedforward control. For feedback control, sliding mode control and the line of sight (LOS) stabilization are used for compensation of the nonlinearities, model uncertainties, friction and disturbances from outside environment. Although our mechanisms are carefully designed with statically balance, the center of the gravity will changed due to the configuration change during moving of the gimbal relative to an aerial vehicle. The disturbance torque from unbalance mass and gimbal geometry is unavoidable under the effect of the vibration of the aerial vehicle, which will lead to degrade the systems accuracy. Since the acceleration of the aerial carrier, due to the disturbance torque, can be measured, a feedforward disturbance rejection can be generated to compensate the disturbance torque. The experimental results confirm the validity of the control design procedure for the two-axis gimbaled stabilization system. The proposed controller is capable enough to overcome the disturbances and the impact of LOS disturbances on the tracking performance.

Line-of-Sight Stabilization System Based on Fractional-Order Control

2014 ◽  
Vol 962-965 ◽  
pp. 2703-2707 ◽  
Author(s):  
Li Wang ◽  
Jian Jun Li ◽  
Yuan Yao ◽  
Ying Hui Wang ◽  
Qing Xiang Guan
Keyword(s):  
Fractional Order ◽  
Disturbance Rejection ◽  
Tracking System ◽  
Optical Tracking ◽  
Line Of Sight ◽  
Stabilization System ◽  
Excellent Performance ◽  
Optical Tracking System ◽  
Stabilization Control ◽  
Fopi Controller

The line-of-sight (LOS) stabilization control is required to isolate LOS from the movement and vibration of carrier and ensure pointing and tracking for target in electro-optical tracking system. In this paper, a fractional-order PI (FOPI) controller is applied in the design of stabilization loop of LOS stabilization system based on the analysis of the fractional calculus theory. This controller exhibits excellent performance even in presence of nonlinearity and uncertainty. Details of this controller along with the performance comparisons between FOPI and conventional integer-order PI (IOPI) are presented. Simulation results indicate that the FOPI controller can improve the carrier disturbance rejection performance of LOS stabilization system.

Continuous sliding mode control for the translational oscillator with a rotating actuator system

2022 ◽  
pp. 014233122110691
Author(s):  
Liqiang Wang ◽  
Xianqing Wu ◽  
Meizhen Lei
Keyword(s):  
Sliding Mode Control ◽  
Disturbance Rejection ◽  
Control Method ◽  
Sliding Mode ◽  
Control Performance ◽  
Mode Control ◽  
Stabilization Control ◽  
Control Scheme ◽  
Sliding Manifold ◽  
Actuator System

The stabilization and disturbance rejection of the translational oscillator with a rotating actuator (TORA) are considered in this paper. To deal with the control issues, a novel continuous sliding mode control method is designed for the TORA system. Compared with existing sliding mode control methods for the TORA system, the proposed method here is continuous. Specifically, first, a global diffeomorphism is introduced for the model of the TORA system. Then, an elaborate sliding manifold is constructed, and a continuous sliding mode control scheme is developed to ensure the convergence of the sliding manifold. Furthermore, rigorous theoretical analysis is given. Finally, simulation tests are carried out, and the obtained simulation results demonstrate that the proposed method exhibits superior stabilization control performance and strong robustness.

scholarly journals Disturbance Rejection Attitude Control for a Quadrotor: Theory and Experiment

2021 ◽  
Vol 2021 ◽  
pp. 1-15
Author(s):  
Li Ding ◽  
Qing He ◽  
Chengjun Wang ◽  
Rongzhi Qi
Keyword(s):  
Attitude Control ◽  
Disturbance Rejection ◽  
Sliding Mode ◽  
External Disturbances ◽  
Attitude Tracking ◽  
Control Scheme ◽  
Aerial Vehicle ◽  
Linear Extended State Observer ◽  
The Stability ◽  
Theory And Experiment

In this article, an attitude tracking controller is designed for a quadrotor unmanned aerial vehicle (UAV) subject to lumped disturbances. Firstly, the attitude dynamical model of the quadrotor under external disturbances is established. Subsequently, an improved sliding mode control (SMC) strategy is designed based on the linear extended state observer (LESO). In this control scheme, the SMC will guarantee the sliding surface is finite time reachable and the LESO will estimate and compensate for the lumped disturbances. Then, the robustness and asymptotic stability of the proposed controller are proved by the stability analyses. Finally, three numerical simulation cases and comparative flight experiments validate the effectiveness of the developed controller.

scholarly journals Disturbance Rejection Trajectory Tracking Control for an Unmanned Quadrotor Based on Hybrid Controllers

2021 ◽  
Vol 2021 ◽  
pp. 1-12
Author(s):  
Xiaoming Ji ◽  
Zihui Cai
Keyword(s):  
Trajectory Tracking ◽  
Disturbance Rejection ◽  
Tracking Control ◽  
Sliding Mode ◽  
Experimental Tests ◽  
Euler Method ◽  
Trajectory Tracking Control ◽  
Hybrid Controller ◽  
Active Disturbance Rejection ◽  
Aerial Vehicle

The purpose of this article is to explore a dual-loop problem regarding the trajectory tracking control of a quadrotor unmanned aerial vehicle, applying a linear active disturbance rejection and conditional integrator sliding mode controller, namely, LARC-CISMC. The quadrotor system model is derived through Newton–Euler method and consists of two subsystems. The hybrid controller for position and attitude loops is constructed. An evaluation of the proposed controller is presented in comparison with the linear active disturbance rejection controller. Simulation comparisons and experimental tests illustrate that the proposed controller has a satisfied robustness and accuracy under lumped disturbances.

scholarly journals Modeling and Robust Trajectory Tracking Control for a Novel Six-Rotor Unmanned Aerial Vehicle

2013 ◽  
Vol 2013 ◽  
pp. 1-13 ◽  
Author(s):  
Chengshun Yang ◽  
Zhong Yang ◽  
Xiaoning Huang ◽  
Shaobin Li ◽  
Qiang Zhang
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Controller Design ◽  
Sliding Mode ◽  
Trajectory Tracking Control ◽  
Sliding Mode Disturbance Observer ◽  
Aerial Vehicle ◽  
Differential Expansion ◽  
Derivatives Of

Modeling and trajectory tracking control of a novel six-rotor unmanned aerial vehicle (UAV) is concerned to solve problems such as smaller payload capacity and lack of both hardware redundancy and anticrosswind capability for quad-rotor. The mathematical modeling for the six-rotor UAV is developed on the basis of the Newton-Euler formalism, and a second-order sliding-mode disturbance observer (SOSMDO) is proposed to reconstruct the disturbances of the rotational dynamics. In consideration of the under-actuated and strong coupling properties of the six-rotor UAV, a nested double loops trajectory tracking control strategy is adopted. In the outer loop, a position error PID controller is designed, of which the task is to compare the desired trajectory with real position of the six-rotor UAV and export the desired attitude angles to the inner loop. In the inner loop, a rapid-convergent nonlinear differentiator (RCND) is proposed to calculate the derivatives of the virtual control signal, instead of using the analytical differentiation, to avoid “differential expansion” in the procedure of the attitude controller design. Finally, the validity and effectiveness of the proposed technique are demonstrated by the simulation results.

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