Prescribed Performance Control for Two-axis Optronic Stabilized Platform

摘要

Aiming at improving the tracking and stabilizing performance of two-axis optronic stabilized platform with Stribeck friction and uncertain velocity disturbance, a prescribed performance control strategy with unknown initial errors is designed. By designing a new performance function, the limit of traditional prescribed control that the initial error has to be known accurately is broken through. The strategy possesses strong robustness against unknown disturbance, and the state error is restrained to a predefined arbitrary small residual. It is guaranteed that the closed-loop system is uniformly ultimately bounded. The simulation results demonstrate the effectiveness of proposed strategy.