# Disturbance-separated model predictive control for airborne electro-optical gimbals

- Source: arXiv cs.RO
- Published: 2026-10-27T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/wg7nemqisny0w896by19tw3au
- Original: https://arxiv.org/abs/2610.34849

## Summary

The paper proposes a disturbance-separated model predictive control (MPC) scheme for constrained pointing control of airborne electro-optical gimbals under carrier vibration, input delay, and actuator constraints. The scheme uses an adaptive periodic observer combined with linear-regression frequency estimation to predict multi-harmonic vibrations, and a linear observer plus a bounded LSTM network to estimate aperiodic disturbances and their changes over the input delay; periodic predictions are embedded in the MPC model, while aperiodic compensation is applied outside the optimizer.