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Stabilizing a Gimbal Platform using Self-Tuning Fuzzy PID Controller

by Nourallah Ghaeminezhad, Wang Daobo, Fahad Farooq
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International Journal of Computer Applications
Foundation of Computer Science (FCS), NY, USA
Volume 93 - Number 16
Year of Publication: 2014
Authors: Nourallah Ghaeminezhad, Wang Daobo, Fahad Farooq
10.5120/16298-6038

Nourallah Ghaeminezhad, Wang Daobo, Fahad Farooq . Stabilizing a Gimbal Platform using Self-Tuning Fuzzy PID Controller. International Journal of Computer Applications. 93, 16 ( May 2014), 13-19. DOI=10.5120/16298-6038

@article{ 10.5120/16298-6038,
author = { Nourallah Ghaeminezhad, Wang Daobo, Fahad Farooq },
title = { Stabilizing a Gimbal Platform using Self-Tuning Fuzzy PID Controller },
journal = { International Journal of Computer Applications },
issue_date = { May 2014 },
volume = { 93 },
number = { 16 },
month = { May },
year = { 2014 },
issn = { 0975-8887 },
pages = { 13-19 },
numpages = {9},
url = { https://ijcaonline.org/archives/volume93/number16/16298-6038/ },
doi = { 10.5120/16298-6038 },
publisher = {Foundation of Computer Science (FCS), NY, USA},
address = {New York, USA}
}
%0 Journal Article
%1 2024-02-06T22:15:53.503543+05:30
%A Nourallah Ghaeminezhad
%A Wang Daobo
%A Fahad Farooq
%T Stabilizing a Gimbal Platform using Self-Tuning Fuzzy PID Controller
%J International Journal of Computer Applications
%@ 0975-8887
%V 93
%N 16
%P 13-19
%D 2014
%I Foundation of Computer Science (FCS), NY, USA
Abstract

The aim of the inertial stabilization system is to stabilize the sensor's line of sight (LOS) toward a target while is isolating the sensor against the disturbances which are caused by the operating environment. The purpose which this paper is following is a model of control servo system for an inertially stabilized gimbal mechanism to improve the performance of system which is using only PID controller by finding a way to tune the PID gains online, for this purpose a self-tuning Fuzzy PID type controller is used. First the relationships that governs gimbals torque will be derived from Newton's law under consideration of the dynamic mass unbalance and base angular motion. The next step is construction of stabilization loop through designing the proposed self-tuning Fuzzy-PID controller. For simulation and investigate the system performance in different cases of controller, the Matlab/Simulink is used and Based on different performance criteria a comparison study is made. Based on the results in different conditions on proposed controller the system performance is improved. The simulation result shows improvement on transient and the steady-state performance.

References
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Index Terms

Computer Science
Information Sciences

Keywords

Servo control system inertially stabilized platform intelligent control self-tuning Fuzzy PID Matlab/Simulink.

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