Paper Info
Title
Input-Output Response Based Simultaneous Tracking And Disturbance Attenuation Control For Helicopter Image Stabilizers
Abstract
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.
Year
Venue
Field
2015
2015 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO)
Inner loop,Control theory,PID controller,Control theory,Image stabilization,Input/output,Control engineering,Rotor (electric),Real image,Engineering,Vibration
DocType
Citations 
PageRank 
Conference
0
0.34
References 
Authors
4
5
Name
Order
Citations
PageRank
Guangyu Zhang104.06
Yuqing He272.25
Jianda Han322060.61
Guangjun Liu486970.08
Zhiqiang Zhu502.03