Reduced-order design of Robust H∞ Controller for an Inertial Stabilized Aerial Platform

Abstract

The uncertainty disturbance is one of the main disturbances that seriously influences the stabilization precision of an aerial inertially stabilized platform (ISP) system. In this paper, to improve the stabilization precision of the ISP under disturbance uncertainty, a robust H∞ controller is designed in this paper. Then, the reduction order is carried out for high-order controllers generated by the robust H∞ loop shaping control method. The application of the minimum implementation and balanced truncation algorithm in controller reduction is discussed. First, the principle of reduced order of minimum implementation and balanced truncation are analyzed. Then, the method is used to reduce the order of the high-order robust H∞ loop shaping controller. Finally, the method is analyzed and verified by the simulations and experiments. The results show that by the reduced-order method of minimum implementation and balanced truncation, the stabilization precision of the robust H∞ loop shaping controller is increased by about 10%.