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A composite control method based on the adaptive RBFNN feedback control and the ESO for two-axis inertially
Xusheng Lei1, Ying Zou1, Fei Dong1
1School of Instrument Science and Opto-electronics Engineering, Beihang University, Beijing, 100191, China.
ISA Transactions
|October 6, 2015
Summary
A novel composite control method using adaptive radial basis function neural networks (RBFNN) and extended state observers (ESO) enhances two-axis inertially stabilized platform (ISP) control. This approach achieves precise stabilization without prior training data, validated by simulations and flight tests.
Area of Science:
- Control Systems Engineering
- Robotics
- Aerospace Engineering
Background:
- Inertially stabilized platform (ISP) systems exhibit nonlinearity and time-varying dynamics, challenging conventional feedback control.
- Achieving fast dynamic response and high stabilization precision requires advanced control strategies that adapt to system variations.
Purpose of the Study:
- To develop a robust composite control method for two-axis ISP systems.
- To address the limitations of conventional feedback control in nonlinear and time-varying ISP systems.
- To improve control performance, ensuring fast response and high stabilization precision.
Main Methods:
- A composite control strategy integrating adaptive radial basis function neural network (RBFNN) feedback control with an extended state observer (ESO).
- Online generation and optimization of RBFNN feedback control parameters based on real-time state error information, eliminating the need for prior training data.
- Implementation of a linear second-order ESO to effectively compensate for composite disturbances.
Main Results:
- The proposed adaptive RBFNN can be constructed and optimized online, directly utilizing working process state error information.
- The ESO effectively compensates for system uncertainties and external disturbances.
- Lyapunov stability theory confirms the asymptotic stability of the composite control method.
Conclusions:
- The developed composite control method offers a robust solution for controlling nonlinear and time-varying ISP systems.
- The integration of adaptive RBFNN and ESO provides superior control performance, achieving high stabilization precision and fast dynamic response.
- Validation through simulations and flight tests confirms the practical applicability and effectiveness of the proposed control strategy for ISP systems.
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