This paper focuses on the disturbance rejection control problem for inertial stabilization of long-distance laser positioning with the movable platform. Due to various disturbances of the movable platform, the positioning system has significant disturbances that affect the positioning accuracy. Moreover, the nonminimum-phase property of the inertial stabilization system leads to great challenges for designing traditional disturbance-observer-based as well as rejection control methods. In this paper, a dual-compensator disturbance-observer-based control algorithm is proposed to ensure a much stronger rejection of disturbances than those of conventional methods. In particular, it is proven that the two compensators in the proposed method effectively estimate disturbances in different frequency regions. Furthermore, the analytical tuning laws for the proposed dual-compensator disturbance-observer-based control method are presented. The experimental setup including the laser positioning platform demonstrated the validity of the proposed method, which effectively rejected various disturbances.

中文翻译：

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移动平台长距离激光定位惯性稳定抗扰控制研究

本文重点研究移动平台长距离激光定位惯性稳定的抗扰控制问题。由于移动平台的各种扰动，定位系统存在显着的扰动，影响定位精度。此外，惯性稳定系统的非最小相位特性给设计传统的基于扰动观测器和抑制控制方法带来了巨大挑战。在本文中，提出了一种基于双补偿器干扰观测器的控制算法，以确保比传统方法更强的干扰抑制。特别是，证明了所提出方法中的两个补偿器有效地估计了不同频率区域的扰动。此外，提出了所提出的基于双补偿器干扰观测器的控制方法的解析调谐定律。包括激光定位平台在内的实验装置证明了所提出方法的有效性，有效地抑制了各种干扰。