Control and modeling of suspending stabilization problom for floated inertial platform

Abstract

Focusing on the suspending stabilization problem for the floated inertial platform, the 6-DOF (degree-of-freedom) equation of motion for the stabilized platform is derived based on the disturbance analysis of the platform and the mode of the suspending support system. To solve the disturbance of the external environments, mode parameter uncertainty, unmodeled dynamics and measurement noise, the sliding mode controller based on the extended high-gain observer are proposed. Simulations indicate that the stabilization structure could isolate the external disturbance and improve the anti-interference ability of the platform; the high precision and quick stabilization control are realized by the proposed controller. Compared with the previous research, the dynamic and stabilization performance of the proposed controller is increased by 50%.