Model-free-adaptive-based data-driven method for three-axis Gimbal control

Abstract

This study uses a three-axis Gimbal model to inertially stabilize a platform that can be used to feed smooth images from a camera. In this article, three-axis Gimbal performance analysis is presented. An inertial measurement unit responds to movement and a three-phase brushless DC motor with 14 poles and 12 coils is used to rule out vibrations and movement from the surroundings. The controller combines sliding-mode control and model-free-adaptive control to design a novel control method based on data, which can decrease the computational time and difficulty of a nonlinear system. Simulations on MATLAB prove the efficiency of the given method. The simulation results validate that the designed controller has improved position control than the traditional proportional integral derivative, model-free-adaptive control, and model-free-learning-adaptive control.