A Dynamic High-Frequency Noise Suppression Method of Gyroscope for Inertial Stabilized Platforms Based on an Adaptive Compensatory Disturbance Observer

A disturbance observer (DOB)-based controller serves as an effective approach for enhancing disturbance suppression ability of inertial stabilized platforms (ISPs). However, challenges arise due to the potential amplification of high-frequency noise, particularly in the presence of gyroscope delay and large uncertainties within the plant model. Most research on DOB requires an offline compromise between disturbance suppression ability and high-frequency noise. This article proposes a dynamic high-frequency noise suppression method of gyroscope for ISPs based on an adaptive compensatory DOB (ACDOB). The bandwidth of ACDOB can be adjusted online based on the amplitude of high-frequency noise, obtained by a nonlinear filter. Moreover, bandwidth range of the observer is discussed based on necessary stability analyses. Simulations and experiments demonstrate that the proposed method is adaptable to large uncertainties with limited high-frequency noise. ACDOB can achieve dynamic balance between disturbance suppression ability and high-frequency noise.