By Topic

Kinematic Algorithms and Robust Controller Design for Inertially Stabilized System

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Seongil Hong ; Agency for Defense Dev., Daejeon, South Korea ; Ki Dae Cho

This paper describes a controller design method for the inertially stabilized system of a tracking radar. Its aim is to track a reference target trajectory with high accuracy while isolating rigid body rotational motions of a host ship. First, we investigate the trajectory generation problem to make the control input for a target tracking on the moving base. Second, dynamic equations of motion are formulated by the spring-mass-damper system to include rigid body dynamics as well as structural flexibility. The unknown parameters of dynamic equations are estimated with experimental input and output data by minimizing a predicted error. Third, mixed sensitivity H robust controllers are designed to meet the conflict requirements of robustness and performance in the face of uncertainty. Finally, the proposed optimal controllers demonstrate the effectiveness of design methodology, and show high performance by numerical and experimental results.

Published in:

IEEE/ASME Transactions on Mechatronics  (Volume:19 ,  Issue: 1 )