Experimental Comparison of H-Infinity Synthesis and Feedback Linearization on a MIMO Gimbal Example

Mert Ozcelik*, Burak Kurkcu, Zeki Yagiz Bayraktaroglu

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

This study investigates the controller types and effects of the design techniques on gimbal stabilization. Since implementing the controllers and determining the system's robustness is straightforward, the frequency domain design approaches are widely used with linear controllers in electro-optical inertial stabilized systems. Besides, the required system models can be obtained from experimental data easily. Nevertheless, the system model could change in the operational conditions. Therefore, nonlinear controllers are needed in this situation. In this investigation, we obtained a proper system model using system identification methods to design a mixed-sensitivity H controller. Then, we proposed an input-output feedback linearization controller with a linear quadratic regulator (LQR) based state feedback controller design to stabilize the 2 degrees of freedom (DOF) gimbal. Finally, we compared these two controllers regarding reference tracking, sensitivity function, and disturbance rejection performances on the experimental setup under 6 DOF disturbance profiles.

Original languageEnglish
Title of host publication2023 IEEE Conference on Control Technology and Applications, CCTA 2023
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages984-991
Number of pages8
ISBN (Electronic)9798350335446
DOIs
Publication statusPublished - 2023
Event2023 IEEE Conference on Control Technology and Applications, CCTA 2023 - Bridgetown, Barbados
Duration: 16 Aug 202318 Aug 2023

Publication series

Name2023 IEEE Conference on Control Technology and Applications, CCTA 2023

Conference

Conference2023 IEEE Conference on Control Technology and Applications, CCTA 2023
Country/TerritoryBarbados
CityBridgetown
Period16/08/2318/08/23

Bibliographical note

Publisher Copyright:
© 2023 IEEE.

Funding

*This work was supported in part by Aselsan Inc.

FundersFunder number
Aselsan

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