Disturbances rejection based on robust H∞ control for an aerial inertially stabilized platform

摘要

In order to improve the tracking accuracy and stabilization of an inertially stabilized platform (ISP), a disturbance rejection method based on robust H∞ control is proposed. The controller of tracking loop is designed by using the robust H∞ loop-shaping control method, in which the frequency shaping of the tracking loop is conducted through the designed front and rear compensators. By using the call function in Matlab toolbox, the controller coefficients are obtained that can meet the requirements of robust maximum stability boundary. The controller and compensator are combined to obtain the robust H∞ loop-shaping controller. Finally, the experiments are carried out to verify the method. Compared with the PID control, the stabilization accuracy of the ISP has been greatly improved and the robust H∞ control method has significant disturbance rejection capability,.