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Stabilization of A Two-DOF Gimbal System Using Direct Self-Tuning Regulator

This paper aims to present the stabilization a two-axis gimbal system. The coupling effects and instances of mass unbalance have been considered in the proposed gimbal model; and a direct self-tuning regulator (STR) is utilized to improve the system performance. For this purpose, the parameters of controller polynomials have been calculated through the application of a recursive least square approach. Alternatively, a specific control signal is generated for both elevation and azimuth axes and applied to the gimbal system. The stabilization results of the targeted two-axis gimbal system confirm the effectiveness of the proposed controller for both elevation and azimuth axes. Moreover, an experimental study is implemented on the dynamics modeling and control of a two-DOF gimbal system. The controller algorithm is implemented through Arduino Uno because of its easy compatibility and portability.