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Journal of Sensors
Volume 2016, Article ID 7964727, 11 pages
Research Article

A Model Reference Adaptive Control/PID Compound Scheme on Disturbance Rejection for an Aerial Inertially Stabilized Platform

School of Instrumentation Science & Opto-Electronics Engineering, Beihang University, Beijing 100191, China

Received 17 June 2016; Revised 14 August 2016; Accepted 4 September 2016

Academic Editor: Rafael Morales

Copyright © 2016 Xiangyang Zhou et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper describes a method to suppress the effect of nonlinear and time-varying mass unbalance torque disturbance on the dynamic performances of an aerial inertially stabilized platform (ISP). To improve the tracking accuracy and robustness of the ISP, a compound control scheme based on both of model reference adaptive control (MRAC) and PID control methods is proposed. The dynamic model is first developed which reveals the unbalance torque disturbance with the characteristic of being nonlinear and time-varying. Then, the MRAC/PID compound controller is designed, in which the PID parameters are adaptively adjusted based on the output errors between the reference model and the actual system. In this way, the position errors derived from the prominent unbalance torque disturbance are corrected in real time so that the tracking accuracy is improved. To verify the method, the simulations and experiments are, respectively, carried out. The results show that the compound scheme has good ability in mass unbalance disturbance rejection, by which the system obtains higher stability accuracy compared with the PID method.