A compound scheme on parameters identification and adaptive compensation of nonlinear friction disturbance for the aerial inertially stabilized platform. (March 2017)

• Record Type: Journal Article
• Authors: Zhou, Xiangyang; Zhao, Beilei; Liu, Wei; Yue, Haixiao; Yu, Ruixia; Zhao, Yulong
• Is Part Of: ISA transactions. Volume 67(2017:Mar.)
• Page Start: 293
• Page End: 305
• Publication Date: 2017-03
• Subjects: Adaptive compensation -- Aerial remote sensing -- Nonlinear friction disturbance -- Inertially stabilized platform -- Parameters identification; Engineering instruments -- Periodicals; Engineering instruments; Periodicals; Electronic journals; 629.805
• DOI: 10.1016/j.isatra.2017.01.003
• Languages: English
• ISSNs: 0019-0578

Abstract

Abstract: A compound scheme is proposed to compensate the effect of nonlinear friction disturbance on the control precision of a three-axis inertially stabilized platform (ISP) for aerial remote sensing applications. The scheme consists of friction parameters identification and adaptive compensation. A LuGre model-based ISP friction model is first developed. Then, a comprehensive experimental scheme is proposed to obtain the static friction parameters. Further, the dynamic parameters are identified by experiments and dynamic optimization. On the basis of identified parameters and Lyapunov stability theory, a backstepping integral adaptive compensator is designed to compensate the nonlinear friction disturbance. Simulations and experiments are carried out to validate the scheme. The results show that the compound scheme can accurately obtain the friction parameters and improve the control precision and stability of ISP. Highlights: A compound scheme consisting of friction parameters identification and adaptive compensation is proposed for aerial inertially stabilized platform. A comprehensive experiment scheme is proposed to obtain the static friction parameters. The dynamic friction parameters are identified through experiment and optimization. A backstepping integral adaptive friction compensator based on identified parameters and Lyapunov stability theory is designed. Simulations and experiments are carried out to validate the scheme.