Adaptive control of rotary position system in inertial navigation

To deal with the problems of unknown non-linearity, external disturbance and parameter perturbation in the rotary position system of inertial navigation, the adaptive Backstepping controller was designed to control the rotary position system. The dynamic surface control(DSC) technique was used to lessen the designing complexity. It was proved by using Lyapunov stability analysis that the designed closed-loop adaptive system is hemi-global asymptotic stable. Simulation results show that the controller designed in this paper has apparent adaptability and favorable robustness when there exist external disturbance and unknown non-linearity. The steady precision of controller satisfies the application of multi-position initial alignment in SINS.