Two-axis gimbal platform controller design in finite time application occasions: LMI approach

摘要

In this paper, a controller design approach based on LMI optimization method is proposed for the two-axis gimbal platform in finite time application. This method is based on the linear parameter varying (LPV) model of the two-axis gimbal platform, considering the cross-coupling problem between the pitch and yaw channel. Firstly, the dynamic equation of the two-axis gimbal platform is analyzed and its LPV model is obtained. Then, the sufficient conditions which can ensure the LPV system is finite time bounded(FTB) are introduced, and the controller is designed accordingly. Finally, the performance of the platform with finite time controller and PI controller is analyzed qualitatively. The results show that the proposed controller can guarantee the tracking accuracy in finite time and effectively suppress the coupling interference between the pitch and yaw channel. (C) 2017 Elsevier GmbH. All rights reserved.