Dynamic analysis and stabilizing control of three-axis spherical gimbal

Abstract

Nowadays, stabilized gimbals have been popular products on the present market for unmanned aerial vehicle. Rejecting multi-periodic vibration disturbance is a key point for accuracy motion of the gimbal under the flight operation of unmanned aerial vehicle. In this study, a stable control scheme of a three-axis spherical gimbal is proposed, where a new method for synthesizing multi-iterative learning control algorithm is exported. To design the controller, the mathematic modeling of the three-axis control system is earned and determined by spectrum analysis of the proposed gimbal. Performance and stability of the control system are analyzed and are evaluated in an experimental disturbance rejecting control system. Both computer simulation and experimental results are presented to illustrate the effectiveness of the proposed iterative learning controller design.