NDLI: Robust control and modeling a 2-DOF Inertial Stabilized Platform

Content Provider	IEEE Xplore Digital Library
Author	Khodadadi, H. Motlagh, M.R.J. Gorji, M.
Copyright Year	2011
Description	Author affiliation: Electrical Engineering Department, Iran University of Science & Technology, Tehran, Iran (Motlagh, M.R.J.; Gorji, M.) \|\| Department of Technical and Engineering, Islamic Azad University, Khomeini Shahr Branch, Isfahan, Iran (Khodadadi, H.)
Abstract	This paper presents an uncertain linear model for an Inertial Stabilization Platform (ISP). The system has a 2 degree of freedom (DOF) gimbal which will be attached to a moving vehicle and the optical sensors mounted on stabilized gimbal. The main purpose of an ISP is to eliminate the various disturbance and body motion to make the line of sight (LOS), hold steady in an inertial space. Due to dynamical model of the 2-DOF gimbal, friction, cable restraint, noise, other disturbances from the outside environment and the motions of the vehicle's body (as a result of maneuvering or vibration), the pointing and tracking accuracy of the gimbaled system may strongly degrade. These disturbances are typically nonlinear. Modeling and controlling the stabilization loop with these nonlinearities are the main problem. The approach of this paper is considering a linear doubted model. Linearity makes the model simple and so linear classic controller can be used to meeting design requirements. Therefore the cost of the design and implementation stages will decrease. In addition uncertainty makes the model practical and so the nonlinear nature of mentioned disturbance can be interpreted by this model. So this built ISP by a PI controller which is capable enough to overcome the disturbances and to meet the implication requirements will be controlled. For decreasing the effect of these uncertainties and other probable variation in ISP's parameters on system performance, a determined simple structure for robust enhancer compensator is used and designed.
Starting Page	223
Ending Page	228
File Size	3753435
Page Count	6
File Format	PDF
ISBN	9781612842295
e-ISBN	9781612842301
DOI	10.1109/INECCE.2011.5953880
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-06-21
Publisher Place	Malaysia
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Gimbal LOS Torque Uncertainty Azimuth Friction Stabilization loop ISP Nonlinearity Robustness Numerical models Mathematical model
Content Type	Text
Resource Type	Article

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