Abstract:

According to axis coupled and nonlinear of the line-of-sight (LOS) kinematics in mirror stabilization platforms, an adaptive robust control (ARC) mirror platform based on extended state observer (ESO) is designed considering the external disturbance and the modeling error. Firstly, the dynamic modeling of an bias shafting mirror platform is derived based on the optical vector reflection law and theorem of moment of momentum. Then, the ARC controller is designed, which ensures the adaptive learning stability and can online adjust the system parameters such as friction parameters and moment of inertia. Meanwhile, the ESO is used to observe the unknown extern disturbance. Finally, simulations and experimental results validate the effectiveness of the designed controller and show that the controller can significantly reject extern disturbances and improve position tracking accuracy.