High-precision stabilization control for a floated inertial platform

A robust controller based on the extended-state-observer (ESO) is proposed for the high-precision stabilization control of a floated inertial platform. The linear quadratic regulator (LQR) applied to stabilize platform cannot offer satisfied accuracy in the presence of external disturbance. The disturbance models are developed based on the analysis of the platform disturbance characteristic. The ESO is proposed to estimate the system states and the effects of the external disturbance, unmodeled disturbance, parameters uncertainties and sensor noise. The estimated disturbances and the estimated states are used to enhance the robustness of the controller. Simulation results demonstrate the ESO could estimate the states and disturbances accurately and the proposed controller can satisfy the requirements of the high-precision stabilization control of the platform.