Application of the Compound Control Based on the Additive Decomposition to the Stabilized Platform

To study the effect of friction and nonlinear disturbance in the high-precision opto-electronic servo-stabilized platform, we employ additive decomposition theory to decompose a stabilized platform system into a primary system and an auxiliary system. The primary system is in charge of optical axis tracking. We design a proportion-differential (PD) controller based on acceleration control for the nominal model. The auxiliary system is in charge of optical axis stabilization. We design a nonlinear extended state observer (NESO) to effectively estimate and compensate for the equivalent interference. Combining finite time convergence theory and sliding mode control theory, we design a sliding mode compensator to compensate for unknown interferences. The stability of the system is proved by using Lyapunov theory. Matlab simulation results verify the effectiveness of the proposed method.