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

摘要

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.