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Robust Control Approach for Novel Stabilized Platform with Series Elastic Actuator

The stabilized platforms are commonly used in mobile systems to stabilize the payload instruments. This paper proposes a novel stabilized platform with series elastic actuator (SEA), which has advantage over traditional stabilized platform in peak acceleration suppression. The novel stabilized platform suppresses disturbance via passive elasticity and active servo control. A robust control scheme is applied to enhance system performance against disturbance by keeping the platform in the state of force balance. The scheme is integrated with time delay estimation (TDE) feedforward and robust integral of signal of error (RISE) feedback. The performance of proposed method is validated on the self-built testbed. Experiment results indicate that the disturbance suppression performance with the proposed control scheme (TDE-RISE) is evidently better than that of the traditional proportional-integral-derivative (PID) control strategy, showing promising application prospects.