An Anti-disturbance Backstepping Control for A Two-axis Gimbal System with Euler Angle Feedback and Delayed Inputs

Maintaining the position of a camera by a gimbal system in surveillance applications has never been an easy task since the system is carried on a mobile vehicle. In this study, the design of a stabilization control for the gimbal system is presented to deal with this problem. Firstly, the system kinematics and dynamics are derived in mathematical models, where influences of disturbances, system nonlinearities, and hardware parameterizations are taken into consideration. Secondly, an observer is proposed to estimate the unmeasured disturbances. Then, a full state feedback controller is designed based on the backstepping procedure to ensure the performance of the system. The system stability is preserved in the sense of Lyapunov theory, and the effectiveness is validated by simulation studies. Although the effects of delay time cannot be rejected completely, performances of the proposed control are better than those of previous related studies.