Reproduce “Physics-Informed and Data-Driven Composite Disturbance Separation and Predictive Control for Airborne Electro-Optical Gimbals with Multiple Constraints” on OpenResearch
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About this paper
Yaokun Lu, Yifan Li, Zhixuan Zhang, Enmei Wang, Hao Teng, Jianzhong Qiao
The paper presents a gimbal controller that predicts recurring vibration across its planning horizon while compensating disturbances outside the optimizer. It estimates vibration frequency using linear regression and uses a correction for delay-induced residual changes. In calibrated simulations it lowers tracking error; one indoor-hover trial records yaw and pitch relative-angle RMSEs of 0.770° and 0.350°, not calibrated inertial line-of-sight accuracy or repeatability.
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