Adaptive quaternion control of a 3-DOF inertial stabilised platforms

ABSTRACT

Inertial stabilised platforms are increasingly popular with a large range of products available mainstream. Most items are controlled using popular algorithms that sometimes do not offer best achievable performances. Present paper proposes an advanced control which aims at improving these latter. The exposed solution is based on quaternion representation and self-adapts to the characteristics of the payload it tries to stabilise. Proposed control law ensures the stability of the system whatever the required orientation path is. Although only simulation has been performed to check the performances of such control, results look very promising compared to non-adaptive controls and may help to construct more polyvalent and efficient gimbals which would further facilitate their expansion. Proposed control law can also be applied, as is, to every system that shares the same quaternion-based rotational dynamics.

KEYWORDS:

• ISP
• adaptive control
• quaternions

Disclosure statement

No potential conflict of interest was reported by the authors.

Notes

1 Notice that, since most attitude sensors are directly able to provide their information in quaternion form, q is obtained without any additional computation.

2 The principle remains identical whatever the configuration defined.