ABSTRACT Inertial stabilised platforms are increasingly popular with a large range of products available mainstream. Most items are controlled using popular algorithms that sometimes do not offer best achievable performances. Present paper proposes an advanced control which aims at improving these latter. The exposed solution is based on quaternion representation and self-adapts to the characteristics of the payload it tries to stabilise. Proposed control law ensures the stability of the system whatever the required orientation path is. Although only simulation has been performed to check the performances of such control, results look very promising compared to non-adaptive controls and may help to construct more polyvalent and efficient gimbals which would further facilitate their expansion. Proposed control law can also be applied, as is, to every system that shares the same quaternion-based rotational dynamics.

中文翻译：

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三自由度惯性稳定平台的自适应四元数控制

摘要 惯性稳定平台越来越受欢迎，主流产品种类繁多。大多数项目都使用流行的算法进行控制，这些算法有时无法提供可实现的最佳性能。本论文提出了一种先进的控制，旨在改善后者。公开的解决方案基于四元数表示并自适应它试图稳定的有效载荷的特征。无论所需的定向路径是什么，所提出的控制律都能确保系统的稳定性。虽然只进行了模拟来检查这种控制的性能，但与非自适应控制相比，结果看起来非常有希望，并且可能有助于构建更多价和高效的万向节，这将进一步促进其扩展。提议的控制律也可以适用，