Super-Twisting Control with Quaternion Feedback for a 3-DoF Inertial Stabilization Platform

The majority of works in line of sight (LOS) stabilization and tracking using inertially stabilized platforms (ISPs) apply simple linear controllers to achieve the required performance. However, these techniques do not provide ideal disturbance rejection, which is a desired characteristic for these...

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Bibliographic Details
Main Authors: Reis, Matheus F., Monteiro, Joao C., Costa, Ramon R., Leite, Antonio C.
Format: Conference Proceeding
Language:English
Subjects:
Angular velocity
Cameras
Kinematics
Payloads
Quaternions
Target tracking
Vehicle dynamics
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Summary:The majority of works in line of sight (LOS) stabilization and tracking using inertially stabilized platforms (ISPs) apply simple linear controllers to achieve the required performance. However, these techniques do not provide ideal disturbance rejection, which is a desired characteristic for these types of systems in the context of high-accuracy applications. In this work, we propose a Sliding Mode Control (SMC) strategy for both stabilization and target tracking for a 3- DoF ISP. Both state and output feedback cases are considered. In the latter case, a High-Order Sliding Mode Observer (HOSMO) is proposed for the estimation of the ISP joint velocities. In each case, two Super-Twisting Controllers (STC) are employed in a cascade topology, providing finite-time convergence to the sliding variables. The inner controller ideally rejects the dynamic disturbances acting on the ISP joints, reducing the system to an ideal double integrator. The outer controller ensures target tracking in quaternion space, ideally rejecting all remaining kinematic disturbances. Numerical simulations show the efficiency and performance of the proposed methodology.
ISSN:2576-2370
DOI:10.1109/CDC.2018.8619292