Rise-Based Tracking Control Of Inertial Stabilized Platform With Extended Disturbance Observer

Inertial stabilized platform(ISP) is widely used for line of sight (LOS) stabilization of airborne optoelectronic platform. Due to multiple kinds of disturbances, dynamic characteristics of ISP changes, result in decline of system precision. In this paper, a compound control strategy that combining extended disturbance observer (EDO) and continuous robust integral of the sign of error (RISE) is proposed. The EDO is proved to be effective for estimating the input-disturbance. Meanwhile, the compound controller is designed and stability is analyzed. Numerical experiment shows the proposed method brings faster transient performance and better stability precision.