Dynamic Control Performance Improvement of the Small-Sized Electro-Optic System of Unmanned Aerial Vehicles using the RNTOC and Complex Gyroscope
Jin-Yung Park, Byeong-Hak Kim, Min Young Kim · Journal of Institute of Control Robotics and Systems · 2018
The dynamic performance of small-sized electro optic systems (S-EOTS) is critical for advanced unmanned combat systems to perform successful missions. In particular, its dynamic performance should be fast and accurate to detect, recognize, and track targets in a stable dynamic region. In this paper, we propose the usage of a robust near-time optimal controller (RNTOC) to improve the conventional controller performance. In particular, to secure the movement stability for the full driving range, we propose to apply one more 1-axis gyro sensor to compensate for the conventional 2-axis gyro sensor system. The experimental results show a dramatically enhanced bandwidth from 36 Hz to 42 Hz, which solves the problems of dynamic stability when the vehicle drives at the nadir point.