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 language | English |
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Title of host publication | 2023 IEEE Conference on Control Technology and Applications, CCTA 2023 |
Publisher | Institute of Electrical and Electronics Engineers Inc. |
Pages | 984-991 |
Number of pages | 8 |
ISBN (Electronic) | 9798350335446 |
DOIs | |
Publication status | Published - 2023 |
Event | 2023 IEEE Conference on Control Technology and Applications, CCTA 2023 - Bridgetown, Barbados Duration: 16 Aug 2023 → 18 Aug 2023 |
Publication series
Name | 2023 IEEE Conference on Control Technology and Applications, CCTA 2023 |
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Conference
Conference | 2023 IEEE Conference on Control Technology and Applications, CCTA 2023 |
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Country/Territory | Barbados |
City | Bridgetown |
Period | 16/08/23 → 18/08/23 |
Bibliographical note
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