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

Mert Ozcelik*, Burak Kurkcu, Zeki Yagiz Bayraktaroglu

*Bu çalışma için yazışmadan sorumlu yazar

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Özet

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.

Orijinal dilİngilizce
Ana bilgisayar yayını başlığı2023 IEEE Conference on Control Technology and Applications, CCTA 2023
YayınlayanInstitute of Electrical and Electronics Engineers Inc.
Sayfalar984-991
Sayfa sayısı8
ISBN (Elektronik)9798350335446
DOI'lar
Yayın durumuYayınlandı - 2023
Etkinlik2023 IEEE Conference on Control Technology and Applications, CCTA 2023 - Bridgetown, Barbados
Süre: 16 Ağu 202318 Ağu 2023

Yayın serisi

Adı2023 IEEE Conference on Control Technology and Applications, CCTA 2023

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???event.eventtypes.event.conference???2023 IEEE Conference on Control Technology and Applications, CCTA 2023
Ülke/BölgeBarbados
ŞehirBridgetown
Periyot16/08/2318/08/23

Bibliyografik not

Publisher Copyright:
© 2023 IEEE.

Finansman

*This work was supported in part by Aselsan Inc.

FinansörlerFinansör numarası
Aselsan

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