A Novel Loop Control Method of Full Attitude Inertial Stabilization Platform

Abstract

Three-axis four-frame inertial stabilized platform can ensure that the carrier has omni-directional maneuverability. An innovative control method combining robust controller and observer is proposed in this paper for loop control of full attitude inertial stabilization platform under the unknown model, uncertain parameters and external disturbances. Firstly, the dynamics and kinematics of the full attitude stabilization platform are analyzed. The mathematical model is established and its controllability and observability are analyzed. Secondly, added unknown state is estimated using Luenberger observer because only the output angle of the gyroscope can be measured directly. Finally, the robust controller is designed by backstepping and sliding mode method which can estimate the uncertain parameters and reduce the influence of external disturbance on the stabilization loop. By comparing with the traditional method, the simulation results show that the proposed algorithm can guarantee a good performance of tracking and robustness.