ROBUST CONTROLLER DESIGN FOR A GYRO-MIRROR SYSTEM

Abstract

The gyroscope is basically a rotating mass possessing one axis of symmetry and whose rotation about that axis is relatively large compared with the rotation about any other axis. It has two important properties, namely precession and directional stability. Directional stability can be regarded as the reluctance of a body to change its orientation. The target platform of this project - Gyro-stabilized Mirror System, makes use of this property to stabilize its line-of-sight.

The gyro-stabilized mirror system is a multivariable servomechanism that is free to rotate about both its yaw and pitch axes. The objective of this project is to design and implement a robust output feedback controller for it. The overall closed-loop system should be able to achieve fast tracking in both axes with smallest possible overshoot. The cross-coupling interaction caused by the precession property of the gyroscope has to be minimized too.

The controller design is formulated into the framework of H 00 Almost Disturbance Decoupling Problem with Measurement feedback and internal Stability (H 00-ADDPMS). The results of Chen et al. [23] are then utilized to design a reduced order observer based controller that solves this problem. Simulation and implementation studies show that the overall performance is satisfactory and meets all the design specifications.