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<p>In this paper, an optimal Reduced Active Disturbance Rejection Controller (RADRC) is designed for high-accuracy attitude stabilization control of a gimballed vibrationless camera. RADRC was optimized using a Particle Swarm-Difference Evolutionary (PSO-DE) hybrid intelligent optimization algorithm with good global convergence and low computational effort. Nonlinear friction, mutual torque interference and unmodeled dynamics of gimbal motors are the main influencing factors for attitude stabilization of gimballed vibrationless cameras. These are considered as “total disturbances,” estimated by a Reduced Extended State Observer (RESO), and compensated in real time. To verify the effectiveness of the proposed method, simulations and experiments are carried out. Compared with proportional-integral-derivative (PID) control method, the proposed method has improved the attitude stabilization accuracy by about 56.8% over the PID. This clearly shows that the proposed method is very effective and feasible.</p>

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Research on high-precision attitude stabilization control of gimballed vibrationless camera based on RADRC

  • 期刊论文

  • 发表日期：

    2025年6月13日

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  • Su-Yong Paek,
  • Song-Mu Kim,
  • Jong-Ryong Kim,
  • Chol-Jun Hwang

摘要

In this paper, an optimal Reduced Active Disturbance Rejection Controller (RADRC) is designed for high-accuracy attitude stabilization control of a gimballed vibrationless camera. RADRC was optimized using a Particle Swarm-Difference Evolutionary (PSO-DE) hybrid intelligent optimization algorithm with good global convergence and low computational effort. Nonlinear friction, mutual torque interference and unmodeled dynamics of gimbal motors are the main influencing factors for attitude stabilization of gimballed vibrationless cameras. These are considered as “total disturbances,” estimated by a Reduced Extended State Observer (RESO), and compensated in real time. To verify the effectiveness of the proposed method, simulations and experiments are carried out. Compared with proportional-integral-derivative (PID) control method, the proposed method has improved the attitude stabilization accuracy by about 56.8% over the PID. This clearly shows that the proposed method is very effective and feasible.