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Sensors 2018, 18(3), 754; doi:10.3390/s18030754

Combining Load and Motor Encoders to Compensate Nonlinear Disturbances for High Precision Tracking Control of Gear-Driven Gimbal

1,2,* , 1,2,3
Institute of Optics and Electronics, Chinese Academy of Science, Chengdu 610209, China
Key Laboratory of Optical Engineering, Chinese Academy of Sciences, Chengdu 610209, China
Department of Mechanical engineering, University of Chinese Academy of Sciences, Beijing 100039, China
Author to whom correspondence should be addressed.
Received: 27 January 2018 / Revised: 15 February 2018 / Accepted: 26 February 2018 / Published: 2 March 2018
(This article belongs to the Section Physical Sensors)
View Full-Text   |   Download PDF [3108 KB, uploaded 2 March 2018]   |  


High-performance position control can be improved by the compensation of disturbances for a gear-driven control system. This paper presents a mode-free disturbance observer (DOB) based on sensor-fusion to reduce some errors related disturbances for a gear-driven gimbal. This DOB uses the rate deviation to detect disturbances for implementation of a high-gain compensator. In comparison with the angular position signal the rate deviation between load and motor can exhibits the disturbances exiting in the gear-driven gimbal quickly. Due to high bandwidth of the motor rate closed loop, the inverse model of the plant is not necessary to implement DOB. Besides, this DOB requires neither complex modeling of plant nor the use of additive sensors. Without rate sensors providing angular rate, the rate deviation is easily detected by encoders mounted on the side of motor and load, respectively. Extensive experiments are provided to demonstrate the benefits of the proposed algorithm. View Full-Text
Keywords: sensor-fusion; nonlinear disturbances; rate deviation; DOB; gear-driven sensor-fusion; nonlinear disturbances; rate deviation; DOB; gear-driven

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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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Tang, T.; Chen, S.; Huang, X.; Yang, T.; Qi, B. Combining Load and Motor Encoders to Compensate Nonlinear Disturbances for High Precision Tracking Control of Gear-Driven Gimbal. Sensors 2018, 18, 754.

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