title: A compound scheme on parameters identification and adaptive compensation of nonlinear friction disturbance for the aerial inertially stabilized platform.
abstract: A compound scheme is proposed to compensate the effect of nonlinear friction disturbance on the control precision of a three-axis inertially stabilized platform (ISP) for aerial remote sensing applications. The scheme consists of friction parameters identification and adaptive compensation. A LuGre model-based ISP friction model is first developed. Then, a comprehensive experimental scheme is proposed to obtain the static friction parameters. Further, the dynamic parameters are identified by experiments and dynamic optimization. On the basis of identified parameters and Lyapunov stability theory, a backstepping integral adaptive compensator is designed to compensate the nonlinear friction disturbance. Simulations and experiments are carried out to validate the scheme. The results show that the compound scheme can accurately obtain the friction parameters and improve the control precision and stability of ISP.
authors.affiliation: School of Instrumentation Science & Opto-electronics Engineering, Beihang University, No. 37 Xueyuan Rd., Haidian District, 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, No. 37 Xueyuan Rd., Haidian District, Beijing 100191, China. Electronic address: zhaobeilei1992@buaa.edu.cn.
authors.forename: Beilei
authors.initials: B
authors.lastname: Zhao
authors.affiliation: Institute of Navigation and Control Technology, No. 10 Chedaogou Rd., Haidian District, Beijing 100089, China. Electronic address: liuwbuaa@126.com.
authors.forename: Wei
authors.initials: W
authors.lastname: Liu
authors.affiliation: School of Instrumentation Science & Opto-electronics Engineering, Beihang University, No. 37 Xueyuan Rd., Haidian District, Beijing 100191, China. Electronic address: victor_yue@buaa.edu.cn.
authors.forename: Haixiao
authors.initials: H
authors.lastname: Yue
authors.affiliation: Pera Corporation Ltd., No. 1 Balizhuangdongli Park, Chaoyang District, Beijing 100025, China.. Electronic address: yrx_nx@163.com.
authors.forename: Ruixia
authors.initials: R
authors.lastname: Yu
authors.affiliation: State Key Laboratory for Manufacturing Systems Engineering, Xi'an Jiaotong University, No. 28 Xianning West Road, Xi'an 710049, Shaanxi, China. Electronic address: zhaoyulong@mail.xjtu.edu.cn.
authors.forename: Yulong
authors.initials: Y
authors.lastname: Zhao
keywords: Adaptive compensation; Aerial remote sensing; Inertially stabilized platform; Nonlinear friction disturbance; Parameters identification