Extended-state-observer-based Error-driven Adaptive Nonlinear Feedback Control of Electrical-optical Gyro-stabilized Platform via Modified Dynamic Surface Control with Error Constraint

In this paper, an error-driven adaptive feedback control with an extended state observer (ANCESO) has been developed for the three-axis electrical-optical gyro-stabilized platform. The proposed controller takes into account not only the system parametric deviations as well as external disturbances via integrating adaptive nonlinear feedback tracking control and the extended state observer design. An improved error-driven nonlinear functions are constructed with feedback gain self-regulates to avoid the high gain chattering of the closed loop system. By integrating the fundamentally different working mechanisms of the approaches, the developed ANCESO strategy is able to preserve the theoretical performance results of both design approaches while overcoming their practical performance limitations. Comparative experimental results are obtained to validate the benefits and effectiveness of the proposed control strategy.