High-Precision Disturbance Compensation for a Three-Axis Gyro-stabilized Camera Mount

This paper presents a compound control strategy for high-precision disturbance compensation in order to improve control accuracy of a three-axis gyro-stabilized camera mount. The influences of unknown disturbances are first analyzed, and the structural properties of the disturbances are given. For these disturbances that can be described by an exosystem, the internal model principle-based controllers are designed to eliminate the influences. For others, a general polynomial function is used to approximate them and a kind of proportional multiple-integral observer-based control method is adopted to estimate and compensate them. Finally, to verify the effectiveness and superiority of the compound control strategy, comparative experiments between the traditional methods and the proposed one have been carried out. Experiments with the proposed method demonstrate stronger disturbance rejection capability and better steady accuracy.