Sliding mode line-of-sight stabilization of a two-axes gimbal system

Abstract

This paper presents one method for stabilizing the line of sight of a two axes gimbal mechanical system. The equations of gimbal motion are derived using Newton-Euler approach and the stabilization loop is constructed based on Sliding Mode control theory. The dynamic and nonlinear uncertain disturbances on the performance of the stabilization control loop are investigated and the overall model is then simulated. Finally, the results and performance of the mechanical device together with designed stabilizer control loop are compared with an often used proportional plus integral control feedback compensator.