Control of Inertially Stabilized Platform Using Disturbance Torque Estimation and Compensation

외란토크 추정 및 보상을 이용한 관성안정화 플랫폼의 제어

  • Received : 2014.11.21
  • Accepted : 2015.11.18
  • Published : 2016.01.01


In this study, we propose a control algorithm for Inertially Stabilized Platforms (ISP), which combines Disturbance Observer (DOB) with conventional proportional integral derivative (PID) control algorithm. A single axis ISP system was constructed using a direct drive motor. The joint friction was modeled as a nonlinear function of joint speed while the accuracy of the model was verified through experiments and simulation. In addition, various Q-filters, which have different orders and relative degrees of freedom (DOF), were implemented. The stability and performance of the ISP were compared through experimental study. The performance of the proposed PID-plus-DOB algorithm was compared with the experimental results of the conventional double loop PID control under artificial vehicle motion provided motion simulator with six DOF.


Inertially Stabilized Plotform;Disturbance Torque Estimation;Disturbance Torque Compensation Control;Stabilization;6 DOF Simulator;Control Simulation Test Bed


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Supported by : 한국연구재단