Modelling and stabilizing control of a two-axis gimbal for an unmanned aerial vehicle

Abstract

In this paper, the modelling and stabilizing control of a two-axis airborne gimbal frame is presented. A combination of analytical as well as statistical techniques are used to model the dynamics of the plant and the actuators. State-space control, Field Oriented Control, non-linear feed-forward compensation as well as Kalman filter sensor fusion are employed in synthesis to control the mechatronic system. Practical methods are used to estimate and validate system variables and parameters. Simulation results are compared to implemented results and the robustness of the control system is verified by means of rigorous parameter variations.