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Proceedings Paper

Nonlinear-induced disturbance rejection in inertial stabilization systems
Author(s): Bo Li; David A. Hullender; Michael T. DiRenzo
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Paper Abstract

A frequent problem in inertial stabilization control systems is the rejection of disturbances associated with moving components. Very often such disturbances are nonlinear and time varying. A prime example is the relative motion of components within a gimbal; in this case, nonlinear bearing friction induces a de-stabilizing torque from base motion to the component being stabilized. This paper presents an LQG algorithm, based on a simple first order linear stochastic differential equation, for estimating and compensating in real time a particular class of disturbances that can be modeled as a plus or minus unknown slowly changing random value such as is characterized by nonlinear Coulomb friction. Results of computer simulations testing the control algorithm are presented along with actual measurements from a laboratory brassboard system. The results reveal a noteworthy improvement in disturbance rejection as compared with a conventional PI controller with notch filters.

Paper Details

Date Published: 7 June 1996
PDF: 9 pages
Proc. SPIE 2739, Acquisition, Tracking, and Pointing X, (7 June 1996); doi: 10.1117/12.241920
Show Author Affiliations
Bo Li, Electrospace Systems, Inc. (United States)
David A. Hullender, Univ. of Texas/Arlington (United States)
Michael T. DiRenzo, Texas Instruments Inc. (United States)

Published in SPIE Proceedings Vol. 2739:
Acquisition, Tracking, and Pointing X
Michael K. Masten; Larry A. Stockum, Editor(s)

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