Dual-rate-loop control based on disturbance observer of angular acceleration for a three-axis aerial inertially stabilized platform
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- 作者：Xiangyang Zhou ; xyzhou@buaa.edu.cn" class="auth_mail" title="E-mail the corresponding author ; Yuan Jia jiayuan@buaa.edu.cn" class="auth_mail" title="E-mail the corresponding author ; Qiang Zhao zhaoqiangbuaa@163.com" class="auth_mail" title="E-mail the corresponding author ; Tongtong Cai cttnszbdhz@163.com" class="auth_mail" title="E-mail the corresponding author
- 关键词：Dual-rate-loop ; Disturbance observer ; Inertially stabilized platform ; Kalman filter ; Tracking-differentiator
- 刊名：ISA Transactions
- 出版年：2016
- 出版时间：July 2016
- 年：2016
- 卷：63
- 期：Complete
- 页码：288-298
- 全文大小：1469 K
文摘
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Dual-rate-loop control based on DOB of angular acceleration is proposed.
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Encoder and rate gyro are employed to constitute the inner/outer rate loop, respectively.
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A DOB based on angular acceleration is proposed in stabilization loop.
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Information fusion of Kalman filter in combination with tracking-differentiator are conducted in DOB.
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The methods are theoretically analyzed and experimentally validated.