Research ArticleA composite control method based on the adaptive RBFNN feedback control and the ESO for two-axis inertially stabilized platforms

- A composite control method based on the adaptive RBFNN feedback control and the ESO improve the control performance of ISP system.
- An adaptive RBFNN generates the feedback control parameters to deal with the nonlinearity and time variation of the ISP system.
- A linear second-order ESO compensates for the composite disturbances.
- A series of flight tests have confirmed the effectiveness of the proposed control method.

Due to the nonlinearity and time variation of a two-axis inertially stabilized platform (ISP) system, the conventional feedback control cannot be utilized directly. To realize the control performance with fast dynamic response and high stabilization precision, the dynamic model of the ISP system is expected to match the ideal model which satisfies the desired control performance. Therefore, a composite control method based on the adaptive radial basis function neural network (RBFNN) feedback control and the extended state observer (ESO), is proposed for ISP. The adaptive RBFNN is proposed to generate the feedback control parameters online. Based on the state error information in the working process, the adaptive RBFNN can be constructed and optimized directly. Therefore, no priori training data is needed for the construction of the RBFNN. Furthermore, a linear second-order ESO is constructed to compensate for the composite disturbance. The asymptotic stability of the proposed control method has been proven by the Lyapunov stability theory. The applicability of the proposed method is validated by a series of simulations and flight tests.