Composite Hierarchical Anti-Disturbance Control with Multisensor Fusion for Compact Optoelectronic Platforms

In the aerospace field, compact optoelectronic platforms (COPs) are being increasingly equipped on unmanned aircraft systems (UAS). They assist UAS in a range of mission-specific tasks such as disaster relief, crop testing, and firefighting. However, the strict constraint of structure space makes COPs subject to multi-source disturbances. The application of a low-cost and low-precision sensor also affects the system control performance. A composite hierarchical anti-disturbance control (CHADC) scheme with multisensor fusion is explored herein to improve the motion performance of COPs in the presence of internal and external disturbances. Composite disturbance modelling combining the characteristic of wire-wound moment is presented in the inner layer. The adaptive mutation differential evolution algorithm is implemented to identify and optimise the model parameters of the system internal disturbance. Inverse model compensation and finite-time nonlinear disturbance observer are then constructed to compensate for multiple disturbances. A non-singular terminal sliding mode controller is constructed to attenuate disturbance in the outer layer. A stability analysis for both the composite disturbance compensator and the closed-loop system is provided using Lyapunov stability arguments. The phase lag-free low-pass filter is implemented to interfuse multiple sensors with different order information and achieve satisfactory noise suppression without phase lag. Experimental results demonstrate that the proposed CHADC strategy with a higher-quality signal has an improved performance for multi-source disturbance compensation.