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Input-output Response Based Simultaneous Tracking and Disturbance Attenuation Control for Helicopter Image Stabilizers
Zhang GY(张广玉); He YQ(何玉庆); Han JD(韩建达); Liu GJ(刘光军); Zhu ZQ(朱志强)
作者部门机器人学研究室
会议名称2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015
会议日期December 6-9, 2015
会议地点Zhuhai, China
会议录名称Proceedings of the 2015 IEEE International Conference on Robotics and Biomimetics
出版者IEEE
出版地Piscataway, NJ, USA
2015
页码1291-1296
收录类别EI ; CPCI(ISTP)
EI收录号20161802327740
WOS记录号WOS:000380476200216
产权排序1
ISBN号978-1-4673-9674-5
摘要Image stabilizer is important for most unmanned helicopter system. Usually it should be able to drive the video sensor to track some targets precisely under heavy vibration due to the high speed rotation of the rotor. This is the so-called simultaneous tracking and disturbance attenuation control (STDA) problem. In this paper, a new 2DOF control strategy is proposed aiming at the STDA problem. The proposed control is composed of inner loop control, which is used to attenuate the disturbance due to helicopter’s vibration, and a prefilter, which is outside the closed loop and used to ensure the transient performance of the whole system. One of the most absorbing advantages of the new proposed method is that the two parts are decoupled completely and thus can be designed separately. For inner loop control, an AFC enhanced PID control is proposed to realize disturbance suppression, while for the prefilter, a new parameter optimization algorithm is introduced to ensure optimal step tracking without influencing the disturbance attenuation performance. Furthermore, it should be pointed out that the whole controller is designed based on only input-output response independent on accurate model information of the system. Finally, experiments are conducted on a real image stabilizer with simulated vibration, and the results show the feasibility and validity of the proposed method.
语种英语
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文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/17453
专题机器人学研究室
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation, CAS, Shenyang, 110016, China
2.University of Chinese Academy of Sciences, Beijing, 100049, China
3.Department of Aerospace Engineering, Ryerson University, Toronto, ON, M5B 2K3, Canada
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Zhang GY,He YQ,Han JD,et al. Input-output Response Based Simultaneous Tracking and Disturbance Attenuation Control for Helicopter Image Stabilizers[C]. Piscataway, NJ, USA:IEEE,2015:1291-1296.
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