Application of Bilateral Control Based on Additive Decomposition to Image Rotation Compensation

This paper focuses on the image rotation compensation servo mechanism in aerial imaging systems and the influence of disturbances on its tracking accuracy. Meanwhile, a bilateral control structure based on servo motor drive is utilized to realize the image rotation compensation, and the additive decomposition theory is employed to decompose the system into two subsystems, where the main system is responsible for accurate tracking, and the auxiliary system is designed with a generalized nonlinear extended state observer (G-NESO) to observe and compensate for equivalent perturbations, which is combined with a novel higher-order sliding mode compensator to refine further and compensate the system perturbations. The stable tracking of a desired trajectory and the consistent output of the two systems are achieved, and the image rotation problem caused by the motion asynchrony between the scanning mirror and the imaging plane is solved. The stability of the control system is demonstrated using Lyapunov theory. Finally, MATLAB simulation is utilized to verify the effectiveness and feasibility of the method.