Controller design for motion stabilization of a turret on a moving platform

Abstract

The motion stabilization have been a critical interest in various mechanical fields. It, especially, plays a key role in maintenance of the Line of Sight (LOS) for weapons such as turret's precise targeting performance. For high mobility, turrets are typically located on various moving platforms, either ground-base or ocean-base. The base motion affects LOS through the mechanical friction via bearing structure. Thus, this paper proposes dual-stage control architecture for two Degrees of Freedom (DOF) turret on a ground-base moving platform for robust position tracking performance. Proposed control structure possesses a real-time disturbance observer in order to compensate disturbances including friction caused from the moving base. The structure consists a conventional outer-loop position controller for robust position tracking performance and inner-loop disturbance observe for effective disturbance cancellation. The validity of the algorithm is confirmed via simulation by observing that the resulting position tracking error satisfies the target performance.