Nonlinear Dual Disturbance Observer With Acceleration Control for Dual-Stage Inertial Stabilization Platform

A nonlinear dual disturbance observer is proposed to achieve high-precision inertial stabilization, which lies in disturbance separation compensation with observers of the velocity and acceleration. Meanwhile, the incorporation of a saturation function into the acceleration disturbance observer substantially increases the disturbance suppression beyond the control bandwidth without instability. Additionally, the disturbance observers are optimized to acquire a tradeoff between noise and disturbance rejection capabilities. Experimental results on a dual-stage inertial stabilization platform are provided to illustrate the effectiveness of the proposed method.