Composite compensation control method for airborne opto-electronic platform mounted on multi-rotor UAV
First published at:Oct 15, 2017
Opto-Electronic Engineering Vol. 44, Issue 10, pp. 983 - 989 (2017) DOI:10.3969/j.issn.1003-501X.2017.10.006
In order to compensate disturbance and accomplish the stabilized tracking control for airborne platform mounted on multi-rotor unmanned aerial vehicle (MUAV), a self-adjusting tracking control method based on an improved disturbance observer (DOB) and radial basis function (RBF) neural network approximation is proposed. First, a compensated control is introduced into feedback loop in the structure of original disturbance observer, an improved disturbance observer is established based on velocity signals, and the ability of disturbance compensation and robustness are analyzed. Second, aiming at the compensation problem of nonlinear unknown disturbance, a method based on the RBF neural network (RBFNN) approximation properties is utilized. Finally, a composite compensation control structure is designed based on Lyapunov stability theory. The experimental results show that after applying the proposed method, the disturbance of airborne opto-electronic platform is compensated effectively. The proposed method has high precision and stable tracking control performance, and it can fully meet the requirement of airborne opto-electronic platform stability control.
1 Gao Wen. Research on the target tracking application to photoelectricity platform[D]. Changchun: Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, 2012.
高文. 机载光电平台目标跟踪技术的研究[D]. 长春: 中国科学院长春光学精密机械与物理研究所, 2012.
2 Mei Y, Zhao H Y, Guo S Y. The analysis of image stabilization technology based on small-UAV airborne video[C]// Proceedings of 2012 IEEE International Conference on Computer Science and Electronics Engineering, 2012: 586–589.
3 Qiu Baomei, Wan Jiquan, Wang Jianwen. Active disturbance rejection controller of the aerial photography stabilized plat-form[J]. Opto-Electronic Engineering, 2012, 39(4): 21–26.
邱宝梅, 万吉权, 王建文. 机载摄影稳定平台的自抗扰控制[J]. 光电工程, 2012, 39(4): 21–26.
4 Wang Rijun. Study on image stabilization technology for the payload of mUAV[D]. Changchun: Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, 2015.
王日俊. 多旋翼无人飞行器载荷稳像技术研究[D]. 长春: 中国科学院长春光学精密机械与物理研究所, 2015.
5 Chen W H, Yang J, Guo L, et al. Disturbance-observer-based control and related methods: an overview[J]. IEEE Transactions on Industrial Electronics, 2016, 63(2): 1083–1095.
6 Ren Yan, Liu Zhenghua, Zhou Rui. Application of low speed opto-electronic tracking systems based on sliding mode disturbance observer[J]. Journal of Beijing University of Aeronautics and Astronautics, 2013, 39(6): 835–840.
任彦, 刘正华, 周锐. 滑模干扰观测器在低速光电跟踪系统中的应用[J]. 北京航空航天大学学报, 2013, 39(6): 835–840.
7 Lee M H, Park H G, Lee W B, et al. On the design of a disturbance observer for moving target tracking of an autonomous surveillance robot[J]. International Journal of Control, Automation and Systems, 2012, 10(1): 117–125.
8 Li Jiaquan, Ding Ce, Kong Dejie, et al. Velocity based distur-bance observer and its application to photoelectric stabilized platform[J]. Optics and Precision Engineering, 2011, 19(5): 998–1004.
李嘉全, 丁策, 孔德杰, 等. 基于速度信号的扰动观测器及在光电稳定平台的应用[J]. 光学 精密工程, 2011,19(5): 998–1004.
9 Xie Wei, He Zhongliang. Control method with improved disturbance observer[J]. Control Theory and Applications, 2010, 27(6): 695–700.
谢巍, 何忠亮. 采用改进型扰动观测器的控制方法[J]. 控制理论与应用, 2010, 27(6): 695–700.
10 Wang Rijun, Bai Yue, Xu Zhijun, et al. Fuzzy self-adjusting tracking control based on disturbance observer for airborne platform mounted on multi-rotor unmanned aerial vehicle[J]. Journal of Zhejiang University (Engineering Science), 2015, 49(10): 2005–2012.
王日俊, 白越, 续志军, 等. 基于扰动观测器的多旋翼无人机机载云台模糊自适应跟踪控制[J]. 浙江大学学报(工学版), 2015, 49(10): 2005–2012.
11 Zhu Hairong, Li Qi, Gu Juping, et al. Single-neuron adaptive PI control of the gyrostabilized platform based on disturbance compensation[J]. Electric Machines and Control, 2012, 16(3): 65–70, 77.
朱海荣, 李奇, 顾菊平, 等. 扰动补偿的陀螺稳定平台单神经元自适应PI控制[J]. 电机与控制学报, 2012, 16(3): 65–70, 77.
12 Khalil H K. Nonlinear system[M]. 3rd edition. New Jersey: Prentice Hall, 2002: 24.
13 Hu Hongjie, Wang Yuanzhe. Composite compensation control scheme for airborne opto-electronic platform[J]. Optics and Precision Engineering, 2012, 20(6): 1272–1281.
扈宏杰, 王元哲. 机载光电平台的复合补偿控制方法[J]. 光学 精密工程, 2012, 20(6): 1272–1281.
Get Citation: Wang Rijun, Bai Yue, Zeng Zhiqiang, et al. Composite compensation control method for airborne opto-electronic platform mounted on multi-rotor UAV[J]. Opto-Electronic Engineering, 2017, 44(10): 983-989.
Previous: Research and implementation of target tracking algorithm in compression domain on miniaturized DSP platform