NDLI: A Robust Double Active Control System Design for Disturbance Suppression of a Two-Axis Gimbal System

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A Robust Double Active Control System Design for Disturbance Suppression of a Two-Axis Gimbal System

Content Provider	MDPI
Author	Lee, Dong-Hun Tran, Duc-Quan Kim, Young-Bok Chakir, Soumayya
Copyright Year	2020
Description	This paper presents a robust controller design with disturbance decoupling and rejection of a two-degree-of-freedom (2-DOF) Inertially Stabilized Platform (ISP). The objective of these mechanisms is to stabilize the line of sight (LOS) of imaging sensors pointing towards a specific target. There is currently tremendous interest in ISP applications in marine systems. Such a harsh environment subjects the imaging sensors to multiple disturbances, which requires the design of robust control strategies to enhance the performances of ISP systems. The controller designed in this study is a double active controller composed of an inner compensator, and a feedback controller designed based on the $H\infty$ framework. The main advantage of the proposed controller is that it can be implemented in real time, with lower computational complexity and good performance. In this paper, a comparative experimental study was conducted between the designed controller and an integral sliding-mode controller (ISMC). The comparison was achieved through two major tasks of ISP systems: motion tracking and target tracking.
Starting Page	1638
e-ISSN	20799292
DOI	10.3390/electronics9101638
Journal	Electronics
Issue Number	10
Volume Number	9
Language	English
Publisher	MDPI
Publisher Date	2020-10-04
Access Restriction	Open
Subject Keyword	Electronics Industrial Engineering Marine Engineering H∞ Control Two-axis Gimbal System Integral Sliding-mode Control Disturbance Rejection
Content Type	Text
Resource Type	Article

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