Feedback Stabilization of a Two-axis Gimbal System via Convex Optimization

Journal of Shanghai Jiaotong University ›› 2013, Vol. 47 ›› Issue (08): 1312-1318.

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Feedback Stabilization of a Two-axis Gimbal System via Convex Optimization

ZHAN Shitao1,YAN Weixin1,FU Zhuang1,2,PAN Gen1,YU Jinjiang3,ZHAO Yanzheng1

(1. State Key Laboratory of Mechanical System and Vibration, Shanghai Jiaotong University, Shanghai 200240, China; 2. State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China; 3. Institute of Control Engineering Shanghai Academy of Spaceflight Technology, Shanghai 200233, China)

Received:2012-08-12 Online:2013-08-29 Published:2013-08-29

Abstract

Abstract:

This paper discussed the optimal feedback stabilization problem of a yaw-pitch gimbaled system with structure uncertainties, actuator saturation and disturbance torques in its control channels. The influence modes of platform angular motion, kinematics & geometrical coupling and unbalance moments on system dynamics were analyzed from the perspective of gimbal dynamics. Optimal feedback controllers were synthesized by means of Linear Matrix Inequalities (LMIs) and convex optimization to prevent the system from the instability caused by disturbance torques and actuator saturation. Simulation results prove the robustness of the derived optimal feedback controllers against system uncertainties, actuator saturation and disturbance torques.

Key words: gimbal system, state feedback, linear matrix inequalities （LMIs）, convex optimization

CLC Number:

TJ 76

ZHAN Shitao1,YAN Weixin1,FU Zhuang1,2,PAN Gen1,YU Jinjiang3,ZHAO Yanzheng1. Feedback Stabilization of a Two-axis Gimbal System via Convex Optimization[J]. Journal of Shanghai Jiaotong University, 2013, 47(08): 1312-1318.

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Feedback Stabilization of a Two-axis Gimbal System via Convex Optimization

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