title: Dual-rate-loop control based on disturbance observer of angular acceleration for a three-axis aerial inertially stabilized platform.
abstract: This paper presents a dual-rate-loop control method based on disturbance observer (DOB) of angular acceleration for a three-axis ISP for aerial remote sensing applications, by which the control accuracy and stabilization of ISP are improved obviously. In stabilization loop of ISP, a dual-rate-loop strategy is designed through constituting inner rate loop and the outer rate loop, by which the capability of disturbance rejection is advanced. Further, a DOB-based on angular acceleration is proposed to attenuate the influences of the main disturbances on stabilization accuracy. Particularly, an information fusion method is suggested to obtain accurate angular acceleration in DOB design, which is the key for the disturbance compensation. The proposed methods are theoretically analyzed and experimentally validated to illustrate the effectiveness.
authors.affiliation: School of Instrumentation Science & Opto-electronics Engineering, Beihang University (BUAA), Beijing 100191, China. Electronic address: xyzhou@buaa.edu.cn.
authors.forename: Xiangyang
authors.initials: X
authors.lastname: Zhou
authors.affiliation: School of Instrumentation Science & Opto-electronics Engineering, Beihang University (BUAA), Beijing 100191, China. Electronic address: jiayuan@buaa.edu.cn.
authors.forename: Yuan
authors.initials: Y
authors.lastname: Jia
authors.affiliation: School of Instrumentation Science & Opto-electronics Engineering, Beihang University (BUAA), Beijing 100191, China. Electronic address: zhaoqiangbuaa@163.com.
authors.forename: Qiang
authors.initials: Q
authors.lastname: Zhao
authors.affiliation: School of Instrumentation Science & Opto-electronics Engineering, Beihang University (BUAA), Beijing 100191, China. Electronic address: cttnszbdhz@163.com.
authors.forename: Tongtong
authors.initials: T
authors.lastname: Cai
keywords: Disturbance observer; Dual-rate-loop; Inertially stabilized platform; Kalman filter; Tracking-differentiator