High-Bandwidth Acceleration Disturbance Observer Control With Nonlinear Function for Inertially Stabilized Gimbal of Moving Platform

作者：Qihui Bian, Qingqing Miao, Nian Feng, Xiangxi Li, Tao Tang · 发表于：IEEE Transactions on Automation Science and Engineering · 年份：2026 · DOI：10.1109/TASE.2025.3630189 · 被引用次数：1 · 研究领域：Computer Science

The inertially stabilized gimbal isolates moving platform disturbances to ensure optical payload line-of-sight (LOS) stabilization, playing a critical role in airborne/shipborne reconnaissance, remote sensing, and mapping applications. To enhance its disturbance rejection capability, an acceleration disturbance observer based on a nonlinear saturation function is proposed. This method overcomes the low-bandwidth limitation of conventional linear disturbance observers caused by model nonlinearities and noise effects and enables free parameter adjustment. The proposal innovatively employs a nonlinear saturation function to limit the observer output, while incorporating an integrated analysis of the linearized saturation component with the conventional filter. By tuning the saturation linearization factor, it achieves theoretically unbounded filter bandwidth expansion, consequently improving the observer performance. The theoretical analysis shows that the proposed method has advantages in simple design, multi-degree-of-freedom parameter setting, and robust system stability compared to the linear observer. A series of experiments demonstrate that this approach can effectively reject high-frequency disturbances and prevent the system instability due to high-frequency unmodeled dynamic. Note to Practitioners—This paper was motivated by the stabilization problem of an inertial gimbal on the moving platform, while its methodology also applies to disturbance rejection in other servo ...