Wideband Base Motion Isolation Control for a Mobile Platform

Development of wideband, optimal-adaptive/intelligent control systems is a prerequisite for designing precision mobile stabilized platforms. An effective design of such systems is impeded frequently by the constraints and characteristics of the hardware. Our long term research program addresses this problem by combining modern and advanced classical control methodologies. One of the resulting concepts, termed here as Strong Stabilization (SS), is described in this paper. The SS based methodology involves strategic placement and filtering of rate sensors to decouple base motion disturbances from the conventional inertial rate loops. This significantly increases the stabilization accuracy. Extension of the SS concept to reduce structural jitter and the results of a hardware experiment to demonstrate these improvements are also presented.