Composite Velocity-Tracking Control for Flexible Gimbal System With Multi-Frequency-Band Disturbances

In this paper, a composite velocity-tracking control scheme is presented for improving dynamics response and control accuracy of the flexible gimbal system in the control moment gyro (CMG). Specifically, an ${H}_{\infty } $ optimal vibration controller (HOVC) is developed to weigh multi-performance of the gimbal system, such as stability, fast-tracking performance, and attenuation ability of multi-frequency-band disturbances. Meanwhile, a robust disturbance observer (RDO) designed on optimization technology is utilized to improve the nonlinear friction rejection ability of the gimbal system. Moreover, rigorous theoretical analysis based on the small-gain theory is provided to demonstrate the stability of the closed-loop gimbal system under multiple disturbances. Finally, experimental studies are presented to verify the effectiveness of the proposed method.