Abstract

Background: This paper is devoted to adaptive feedback linearization based stabilization of a two-axis gimbal platform.

Methods: A Lyapunov based adaptation mechanism is proposed for stabilization of a two axes gimbal system through a feedback linearized control structure. The uncertainty of the products of inertia is incorporated in the design procedure.

Results: The performed computer simulations demonstrate the robust performance of the proposed two-axis gimbal stabilizer considering the cross-coupling effects between inner and outer gimbals.

Conclusion: The proposed control structure could be utilized in guided missiles, spacecraft, and navigation systems.

Keywords: Two-axis gimbal system, stabilization, adaptive feedback linearization, lyapunov based adaptation mechanism, Line of Sight (LOS), loop controller.

Graphical Abstract