Design of Add-On Robust Compensators for Gyro/Servo Combinations

This paper describes the application of tractable robust compensators for gyro/servo combinations. Inertial systems use gyro-stabilized platform to give primarily the attitude determination or navigation of systems in variety of fields from space, ships to MEMS. A major problem of rate gyros is that they are prone to drift errors and random-walk errors resulting from the integration of wide-band noise. Sensor inaccuracies that arise from motion of plants are even more difficult to calibrate in gyros. To eliminate propagation effects due to these errors, a number of feedback gyro/servo combination systems have been developed. Also, design methods of attachable robust compensators for any existing control systems were proposed and referred to as robust model matching (RMM). In this paper, we apply the RMM to a gyro/servo combination system. The add-on robust compensators improve the robustness without changing expected property of the existing gyro/servo combination system