A GA-based parameters tuning method for an ADRC controller of ISP for aerial remote sensing applications |
| |
Affiliation: | 1. School of Instrumentation Science and Opto-Electronics Engineering, Beihang University, Beijing 100191, China;2. State Key Laboratory for Manufacturing Systems Engineering, Xi''an Jiaotong University, Xi''an 710049, China |
| |
Abstract: | This paper presents a parameters tuning method based on the genetic algorithm (GA) for an active disturbance rejection control (ADRC) of a three-axis inertially stabilized platform (ISP) with imaging sensors. To improve the stabilization accuracy and robustness of an aerial ISP under multi-source disturbances environment, an ADRC control scheme is first proposed. Then, to accurately identify and tune the parameters in the ADRC controller, a GA-based parameters tuning method is proposed. In this way, the performance of the ADRC is superior to the empirical method. To validate the proposed method, the simulations and experiments are carried out. The results show that the proposed ADRC with GA-based parameters tuning method has significant disturbance rejection ability which can improve the stabilization accuracy obviously. Compared with the ADRC with empirically tuning method, the stabilization error (RMS) under movable base is decreased up to 50.09%. |
| |
Keywords: | Inertially stabilized platform Active disturbance rejection control Disturbance rejection Parameters tuning Genetic algorithm |
本文献已被 ScienceDirect 等数据库收录! |
|