College of Intelligence Science and Technology National University of Defense Technology Changsha 410073 China;
College of Intelligence Science and Technology National University of Defense Technology Changsha 410073 China;
College of Intelligence Science and Technology National University of Defense Technology Changsha 410073 China;
College of Intelligence Science and Technology National University of Defense Technology Changsha 410073 China;
College of Intelligence Science and Technology National University of Defense Technology Changsha 410073 China;
inertially stabilized platform; floating gear tension device; nonlinear friction; disturbance compensation; proportional multiple-integral observer;