Abstract: Considering the effect of gyro output noise in a velocity loop control system on a gyro-stabilized platform, the adaptive strong tracking Kalman filter with iterative estimation of system parameter perturbation was designed. Combined with the model reference adaptive control (MRAC) system, the disturbance isolation performance of the system with the Kalman filter designed was studied by means of comparative simulation experiments with PI control system. The results show that the adaptive strong tracking Kalman filter proposed may further improve the isolation performance of the disturbance control system, and that especially in the case of half compensated non-linear friction as unmodeled uncertainty, not only can the designed filter work stably, but the isolation performance of MRAC system and PI control system can also be improved significantly.

Key words: adaptive strong tracking Kalman filter, model reference adaptive control, gyro-stabilized platform, velocity loop