An anti-windup method based on the modified linear extended state observer for actuators in the miniaturized inertial stabilized platform

This paper presents an anti-windup linear active disturbance rejection controller (LADRC) for a miniaturized inertial stabilized platform (MISP). To address the actuator saturation in acceleration during extreme external disturbance in the MISP, a modified linear extended state observer (MLESO) is proposed with a transition state compensator. Moreover, the proposed method is simple to implement in engineering, and the detailed process has been discussed. Simulation experiments are designed to verify the feasibility of the approach. Compared with the typical LESO during saturation, it effectively reduces the impact of accelerated saturation, which leads to high-frequency oscillations in the control process, and improves the stability of the line of sight (LOS).