Title :
Shipboard disturbance control for the rapid optical beam steering (ROBS) pointing and tracking system
Author :
Borrello, M.A. ; Leslie, D. ; Hyman, H.
Author_Institution :
Trex Enterprises, San Diego, CA, USA
Abstract :
A control method is described that actively cancels disturbances induced by ship motion at the base of a fast pointing and tracking optical telescope. The method uses inertial rate measurements from the telescope line of sight and an adaptive feedforward filter derived from a partial inverse plant model. Differing from the conventional gyro stabilized platform approach, this method avoids major redesign issues of the existing system and potential stabilization problems using output feedback. Methods for obtaining complete system transfer functions and ship motion models are described. Issues regarding the adaptive filter are discussed and simulation results of the control with imposed sea states 3 and 5 are presented. Results show attenuation of base disturbances within specified requirements and robustness to parameter changes was achieved.
Keywords :
adaptive filters; feedback; optical tracking; pointing systems; ships; stability; telescopes; adaptive feedforward filter; optical telescope; output feedback; partial inverse plant model; pointing system; rapid optical beam steering; ship; shipboard disturbance control; stabilization; tracking system; transfer functions; Adaptive filters; Control systems; Marine vehicles; Motion control; Optical attenuators; Optical beams; Optical control; Optical filters; Telescopes; Tracking;
Conference_Titel :
American Control Conference, 2002. Proceedings of the 2002
Print_ISBN :
0-7803-7298-0
DOI :
10.1109/ACC.2002.1025280
