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Nonlinear Observer-Based Control Design for a Three-Axis Inertial Stabilized Platform

Document Type : Research article

Authors

1 Department of Electrical and Electronic Engineering, Shiraz University of Technology, Shiraz 71557-13876, Iran

2 School of Electrical and Computer Engineering, Shiraz University, Shiraz, Iran

Abstract

For decades in the aerospace and control sciences, the Inertial Stabilized Platform (ISP) system has been studied to improve the accuracy of recipient photos or target tracking. This paper presents a nonlinear observer-based control method for three Degrees Of Freedom (3-DOF) ISP systems. First, a new formula of the state space equation for the 3-DOF ISP system is proposed to make this model suitable for designing an observer-based control. Then, by measuring the angular positions as output feedback, the angular velocities are estimated by the nonlinear observer, and Lyapunov-based nonlinear control techniques are used to design the observer. Furthermore, the exponential stability and convergence of the observer system are proved. Finally, the auxiliary control signal is considered so that the dynamics of the designed observer become a simple linear form and are easily controlled by the state feedback controller. Simulation results illustrate the effectiveness and feasibility of the proposed control strategy.

Highlights

  • A new formulation of the state-space equation is proposed for the 3-DOF ISP system so that this model is suitable for designing an observer-based control.
  • For the designed controller to be robust against model uncertainties and external disturbances, the term of unknown bounded nonlinear disturbance in the ISP model is also considered in the driven model.
  • It is no longer necessary to use expensive gyroscopes to directly measure the angular velocity, and an observer is used instead.
  • In this paper, with the help of Lyapunov's theorem and by considering a new positive definite function, it is guaranteed that the state estimation error converges to zero
  • The suggested controller strategy is very simple and its implementation requires a low computational burden.

Keywords

Main Subjects

References
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Journal of Applied Research in Electrical Engineering
Volume 2, Issue 2
Summer and Autumn 2023
July 2023
Pages 158-172
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History
  • Receive Date: 01 February 2023
  • Revise Date: 09 October 2023
  • Accept Date: 17 November 2023
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