Robust control for line-of-sight stabilization of a two-axis gimbal system

2017-01-01
Line-of-sight stabilization against various disturbances is an essential property of gimbaled imaging systems mounted on mobile platforms. In recent years, the importance of target detection from higher distances has increased. This has raised the need for better stabilization performance. For that reason, stabilization loops are designed such that they have higher gains and larger bandwidths. As these are required for good disturbance attenuation, sufficient loop stability is also needed. However, model uncertainties around structural resonances impose strict restrictions on sufficient loop stability. Therefore, to satisfy high stabilization performance in the presence of model uncertainties, robust control methods are required. In this paper, a robust controller design in LQG/LTR, H-infinity, and mu-synthesis framework is described for a two-axis gimbal. First, the performance criteria and weights are determined to minimize the stabilization error with moderate control effort under known platform disturbance profile. Second, model uncertainties are determined by considering locally linearized models at different operating points. Next, robust LQG/LTR, H-infinity and mu controllers are designed. Robust stability and performance of the three designs are investigated and compared. The paper finishes with the experimental performances to validate the designed robust controllers.
TURKISH JOURNAL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCES

Suggestions

Hybrid-shaped single-loop resonator: a four-band metamaterial structure
Yurduseven, O.; Yilmaz, A. E.; Sayan, Gönül (Institution of Engineering and Technology (IET), 2011-12-08)
The aim of this reported work is to demonstrate the feasibility of a miniaturised four-band metamaterial resonator which has potential use in the design of multiband microwave devices such as four-band mobile phone patch antennas. The suggested resonator topology is called the hybrid-shaped single-loop resonator (HSLR) as its unit cell is formed by the combination of square-shaped and triangular-shaped sections of a single piece metal loop printed on a planar low-loss dielectric substrate. The performance o...
Fast and accurate semiautomatic haptic segmentation of brain tumor in 3D MRI images
Latifi-Navid, Masoud; Bilen, Murat; Konukseven, Erhan İlhan; Doğan, Musa; Altun, Adnan (The Scientific and Technological Research Council of Turkey, 2016-01-01)
In this study, a novel virtual reality-based interactive method combined with the application of a graphical processing unit (GPU) is proposed for the semiautomatic segmentation of 3D magnetic resonance imaging (MRI) of the brain. The key point of our approach is to use haptic force feedback guidance for the selection of seed points in a bounded volume with similar intensity and gradient. For the automatic determination of a bounded volume of segmentation in real time, parallel computation on the GPU is use...
Performance evaluation of similarity measures for dense multimodal stereovision
Yaman, Mustafa; Kalkan, Sinan (SPIE-Intl Soc Optical Eng, 2016-05-01)
Multimodal imaging systems have recently been drawing attention in fields such as medical imaging, remote sensing, and video surveillance systems. In such systems, estimating depth has become possible due to the promising progress of multimodal matching techniques. We perform a systematic performance evaluation of similarity measures frequently used in the literature for dense multimodal stereovision. The evaluated measures include mutual information (MI), sum of squared distances, normalized cross-correlat...
Metasurface Lens for Ultra-Wideband Planar Antenna
Yesilyurt, Omer; Sayan, Gönül (Institute of Electrical and Electronics Engineers (IEEE), 2020-02-01)
In this article, an ultra-wideband metasurface lens is designed and integrated into an antipodal Vivaldi antenna (AVA) to improve its radiation directivity without affecting its efficiency and return loss characteristics. The metasurface lens consists of high permittivity metamaterial unit cells which resonate at frequencies far away from the operation bandwidth of 1-6 GHz. Electric field distributions of the antennas show that the near-field behaves more planar for the metasurface lens loaded AVA, as compa...
Spectral Mask Compliance and Amplifier Nonlinearity in Single Carrier and OFDM Systems
Koken, Erman; Yılmaz, Ali Özgür (Springer Science and Business Media LLC, 2012-04-01)
In this paper we investige the comparative merits of two transmission techniques, OFDM and single carrier, with respect to spectral mask compliance when a nonlinear amplifier is utilized in transmission. Two different nonlinear power amplifier models are used for analyzing the behavior of the two techniques in terms of average transmitted power and distortion.
Citation Formats
M. Baskin and M. K. Leblebicioğlu, “Robust control for line-of-sight stabilization of a two-axis gimbal system,” TURKISH JOURNAL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCES, pp. 3839–3854, 2017, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/41353.