Reduced-order design of Robust H_∞ Controller for an Inertial Stabilized Aerial Platform

作     者：Xiangyang ZHOU Yuqian LI Chao YANG 

作者机构：School of Instrumentation and Optoeletronic EngineeringBeihang University(BUAA)Beijing 100191China Beijing Academy of Quantum Information SciencesBeijing 100193China 

出 版 物：《Instrumentation》 (仪器仪表学报（英文版）)

年 卷 期：2019年第6卷第3期

页      面：2-9页

学科分类：08[工学] 081105[工学-导航、制导与控制] 0811[工学-控制科学与工程] 

基　　金：supported in part by the Beijing Natural Science Foundation(Grant No.3182021) National Natural Science Foundation of China(Grant No.51775017) Research Project of Beijing Academy of Quantum Information Sciences(Grant No.Y18G30) the Open Research Fund of the State Key Laboratory for Manufacturing Systems Engineering(Grant No.sklms2018005) 

主　　题：Aerial Remote Sensing Inertial Stabilization Platform Robust H_∞Control Controller Reduction Balanced Truncation 

摘      要：The uncertainty disturbance is one of the main disturbances that seriously influences the stabilization precision of an aerial inertially stabilized platform(ISP)*** this paper,to improve the stabilization precision of the ISP under disturbance uncertainty,a robust H∞controller is designed in this ***,the reduction order is carried out for high-order controllers generated by the robust H∞loop shaping control *** application of the minimum implementation and balanced truncation algorithm in controller reduction is ***,the principle of reduced order of minimum implementation and balanced truncation are ***,the method is used to reduce the order of the high-order robust H∞loop shaping ***,the method is analyzed and verified by the simulations and *** results show that by the reduced-order method of minimum implementation and balanced truncation,the stabilization precision of the robust H∞loop shaping controller is increased by about 10%.