Vibration Rejection and Stabilization Control for an Inertial Stabilization System

Abstract:

This paper presents a controller design of a 2-DOF inertial stabilization system. The line of sight (LOS) stabilization and sliding mode control are used for compensation of the nonlinearities and disturbances from the environment. And it proposes an acceleration feedforward for solving the unbalance torque. The disturbance torque from unbalance mass of gimbal structure is unavoidable under the effect of the vibration of the aerial vehicle. Since the acceleration of the aerial carrier can be measured, a feedforward disturbance rejection can be generated to compensate the disturbance torque. The experimental results demonstrate the performance of the controller, the disturbance is in the form of shaking the base's gimbal. The controller can track the reference input in the elevation axis and reject the base rate disturbance while maintaining its LOS direction. The error of pitch angle less than 0.02 rad, so the camera can track a specified point on an object.

• Periodical: Applied Mechanics and Materials (Volume 619)
• Pages: 273-277
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.619.273
• Online since: August 2014
• Authors: Viboon Sangveraphunsiri, Kritsanun Malithong
• Keywords: Acceleration Feedforward, Inertial Stabilization System, Sliding Mode Control

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