An H∞ technology for simultaneous estimation and control of an inertial gyroplatform when stabilizing it in a reference phase path

This paper discusses the problem of damping of divergent oscillations of an inertial gyroplatform (IGP), in the structure of which an extended Kalman filter (EKF) and a controller are included. Such oscillations are set up due to the fact that the models of errors of the IGP estimation loop and IGP control loop do not fit actual processes adequately. The solution of this problem is based on the application of the H_∞ approach to the counteraction of a disharmony between the predicted and true values of the parameters being observed. Such an approach implies that the quotient of the norm of the vector of the output residuals and the norm of the vector of the input residuals is to be bounded through the adaptive robust tuning of coefficients in the loops intended for IGP estimation and IGP control. The efficiency of the algorithms obtained was corroborated by the results of experimental studies.