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The 22nd Iranian Conference on Electrical Engineering (ICEE 2014), May 20-22, 2014, Shahid Beheshti University

Adaptive Control of a Two Axis Gimbal System Using Auxiliary

Error Structure
Mohamamd Khayatian Paknoush Karim Aghaee
Shiraz University Shiraz University
Shiraz, Iran Shiraz, Iran
mkhayatian@shirazu.ac.ir kaghaee@shirazu.ac.ir


Abstract— In this article, the adaptive control of a two axis software which considers details of model and the controller
gimbal system which can revolve in the pitch and yaw is implemented in Matlab by linking Simulink to Adams
directions and its parameters are uncertain, is considered. It is software. The Adams-View could simulate the exact behavior
desired that the line of sight of gimbal system tracks a and details of a mechanical system and this indicates the
trajectory regardless of outer forces. Mechanical part of the effectiveness of the proposed controller design.
gimbal system is modeled in Adams-View software which
considers all the details and therefore exact behavior of system The structure of the paper is as follows: In section 2
can be simulated. This model is linked to Matlab and an online equation of the motion of the gimbal system is presented. In
co-simulation is run. The controller design is based on inverse section 3, control design algorithms for an adaptive controller
dynamics approach and adaptive strategy which results in a with modified error structure and auxiliary error structure are
non-Strict Positive Real (non-SPR) error model. To overcome presented. The results of simulation and comparison between
the problem of non-SPR error model, an auxiliary error controllers are shown in section 4 & 5.
structure is implemented for updating the controller
parameters. Simulation results on the gimbal system shows II. DYNAMICS OF SYSTEM
that auxiliary error structure has a better performance in A two axis gimbal system usually can rotate over the
comparison with adaptive control with modified error
yaw and the pitch axises and therefore has two degree of
structure.
freedom. The equation of motion of the gimbal system can
I. INTRODUCTION be written in the joint space using Lagrange Equation in
Nowadays inertial navigation systems are used widely in matrix form as the following [3], [4]:
aerospace and navigation applications. A gimbal system is
usually used for separating an inertial platform from its ( ) ̈ + ( , ̇) ̇ + ( ) = (1)
external disturbances and plays a significant role in guidance Where
and navigation, north-finding and automatic control of =
Unmanned Arial Vehicles (UAVs). Generally, a video
camera or a tracking device is mounted on the platform and
the whole system is fixed to a moving vehicle body. The goal is a 2 × 1 vector of the joint angle. ( ) is a 2 × 2 matrix
of using gimbal system is to stabilize and control the platform which contains moment of inertia elements, ( , ̇ ) is a
by applying computed torques and forces so that line of sight 2 × 2 matrix of Coriolis-forces and ( ) is a 2 × 1 vector of
of platform is fixed despite of vehicle’s body vibrations. gravity forces.Figure 1 shows the gimbal system appereance.
There are nonlinear control methods such as sliding mode Torque input can be applied to both the elevation and
and inverse dynamic that has been exploited for controlling a azimuth axises respectively.
gimbal system [2] - [4], [6], [16]. The inverse dynamic
method is dependent to the plant structure and its parameters,
therefore any variation in parameters, disturbances,
unmodeled dynamic, can cause degradation of control system
performance. Adaptive control techniques can overcome this
problem by updating the unknown parameter of the gimbal
system.
In this article, a gimbal system is considered which can
rotate in the azimuth and elevation directions and structure of
model is assumed to be known but its parameters are
assumed to be unknown. using adaptive control with
modified error structure is a common strategy to overcome
the non-SPR error model which has been used widely in
adaptive control of inertial systems and robot manipulators
[11]. Another interesting approach to convert a non-SPR
model to a SPR one is using auxiliary error model which is
shown to have better performance to the modified error
structure. The gimbal system is modeled in the Adams-View
Fig.1 - Gimbal’s appearance

978-1-4799-4409-5/14/$31.00 ©2014 IEEE 1366

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There are many methods to achieve moment of inertia ( )= ( ) ̈ + ( , ̇) ̇ + ( ) − ̇ (7)

matrix and in our case moment of inertia matrix can be
written as following [3], [12], [10], [15],[17]:
Where
0
( )= (2) = ̇+ (8)
0 + cos + sin

Where , , and are moment of inertia components is the modified error with = − , is the desired
over different axises and their actual values are unknown. joint variable and is defined as [11]:
For the gimbal system under study, ( ) is a symmetric
semi-positive definite matrix and its off-diagonal terms are
equal to zero. Because of symmetric shape of gimbal system, = − (9)
the moment of inertia over different axises are equal but
when the first axis rotates, second axis is affected and
therefore Coriolis Effect will appear which consists of cross In Equation (8), is a positive constant and can be
product of two angular velocities. The Coriolis Forces interpreted as the output of a stable filter of . Substituting
matrix can be written as following: into equation (7) yields that the following error equation

̇ ( − )×
⎡ 0 ⎤
sin ( )cos ( ) ⎥ ̈ +( + ) ̇ = ̈ + ̇ + (10)
( , ̇) = ⎢ (3)
⎢ ̇ ( − )× ̇ ( − )× ⎥
⎣ ( )cos ( ) ( ) cos ( )⎦
Where , and are error of parameters defined by:
Where ̇ is the angular velocity vector. The mass of gimbal
system is not quietly balanced at the first axis and therefore
we have gravity force which can be written as following: = −
= −
( )
( )= (4)
0 = −
The right-hand side of the error equation is a linear
The moment of inertia, Coriolis matrix and gravity combination of known parameter and measurable signals and
matrix are bounded and their first and second partial the left-hand side indicate error dynamics with a SPR transfer
function. Choosing the Lyapunov Function candidate as [8],
derivates exist because ( ), ̇ ( ) ∈ ℒ [5].
[9]:
Based on physical dimension and structure of gimbal
system, the mechanical system of gimbal assembly is
planned in Adams-View software and its input torque and
output joint variables are linked to Matlab software so that = ̇ ̇ + ( ) (11)
the controller design can be easily implemented.
III. CONTROLLER DESIGN Where = [ ] and is a positive definite
Adaptive Control with Modified Error structure function. Using the skew-symmetric property of ̇ − 2 ,
the first derivation of the Lyapunov function can be written:
Feedback linearization is one of the most popular
methods that can be used to enlarge the region of attraction
for control system design. It uses the idea of cancelling the
̇ =− ̇ ̇ + ̇ + ( ̇) (12)
nonlinear terms to reach to at a linear error dynamics. As the
feedback linearization requires exact knowledge of the
nonlinear terms for cancellation, it is a non-robust design. To
robustify the feedback linearization technique, adaptive Choosing the adaptive law
methods can be employed to handle the problem of
parametric uncertainties in the system. We assume that ( )
and ̇ ( ) are the measurable output of the system and ( ), ̇ =− ̇ (13)
( , ̇ ), ( ) and ( ̇ ) are unknown such that they have a
Will result in:
known structure as in Eq. (2)-(5) with unknown parameters.
Feedback linearization is also known as inverse dynamic
design in the robotic literature. According to the inverse
̇ =− ̇ ̇ ≤0 (14)
dynamic design, the input torque is chosen as the following
[7]:
Therefore,

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̇ →0
̅≜[ ( ) − ( ) ] (17)

Since e is the output of a Hurwitz filter of ̇ , one can Where is the vector of updating parameter, is the vector
conclude that of measurable signals, is the identity matrix and ( ) is a
lim ( ) = 0 Hurwitz transfer function equal to:
→

The control law (7) together with the adaptive update law 1
( )=
(13) guarantees the convergence of error for two gimbal + +
system in case of parametric uncertainty.
Now, the augmented error can be defined as:

Adaptive control with auxiliary error ε≜ + ̅ (18)

For the auxiliary error approach, if the control input is If one defines ξ as:
chosen as: ξ≜ ( ) (19)

= ( )[ ̈ − ̇− ] + ( , ̇ ) ̇ + ( ) (14) Auxiliary error can be written in the following linear in

parameter form
Where
= −
θ =ε (20)
̇= ̇− ̇
Then, we have
And by choosing a Lyapunov function
( ) ̈ + ( , ̇) ̇ + ( )
= ( )[ ̈ − ̇− ] + ( , ̇) ̇ + ( ) = ε (21)
Or
The following updating law
( ) ̈ + ( )[− ̈ + ̇+ ]
( , ̇) − ( , ̇) ̇ + ( )− ( ) ̇ = −ε (22)
=
Yields that first derivation of Lyapanov function is negative
With adding and subtracting ( ) ̈ and therefore
( ) ̈+ ( ) ̈− ( ) ̈+ ( )[− ̈ + ̇+ ] lim ( ) = 0
= ( , ̇) ̇ + ( ) →

Equation can be written as following Figure 2 shows the structure of auxiliary error method.

( )− ( ) ̈+ ( )[ ̈ − ̈ + ̇+ ]
= ( , ̇) ̇ + ( )

Where
( )= ( )− ( )
( , ̇) = ( , ̇) − ( , ̇)
( )= ( )− ( ) Fig.2-Auxiliary Error Structure

Therefore equation can be written as a linear in parameter

error form:
IV. SIMULATION
( )[ ̈ + ̇+ ] = The two axis gimbal system is designed in Adams-View
( ) ̈ + ( , ̇ ) ̇ + ( ) (15) software so that the exact mechanical behavior of system can
be modeled and it is linked to Simulink. A Co-Simulation
Or runs between Adams and Matlab so that state of gimbal
system generated in Adams and the input control of system
̈+ ̇+ = calculated in Simulink can be passed. There is a dynamic
library file which exchange data between Matlab and Adams.
( ) ( ) ̈ + ( , ̇) ̇ + ( ) (16)
The sampling time is considered as 0.001s and Adams used a
C++ solver type to calculate new states of system. In this
By defining an intermediate error as following [18]

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online control setup, there is a capability to observer a view 0.02

of object and its motions. Figure 3 shows the tracking result 0

of the first and second joint variables of two gimbal system -0.02

by adaptive control with modified error structure, when a -0.04

sum of two sinusoidal reference is applied. Figure 4 shows -0.06

Yaw

the same reference and real angles of system when the two -0.08

gimbal system is controlled by auxiliary error structure. 0 200 400 600 800 1000 1200 1400 1600 1800 2000

Figure 5 & 6 shows the error of pitch and yaw angles for 0.02

modified error structure and auxiliary error structure.Figure 7 0

show the error of system in persence of a sinosiodal -0.02

disturbance with frequency of 15 Hz and amplitude of 10% -0.04

of nominal input torque. -0.06 Pitch

-0.08
0 200 400 600 800 1000 1200 1400 1600 1800 2000

1.75
Time (ms)
1.7 Ref
Pitch
1.65

1.6
Fig.5-Transient error of Modified error structure
1.55

1.5

1.45
0.04
1.4
Pitch
1.35 0.02
0 200 400 600 800 1000 1200 1400 1600 1800 2000

0
-1.2
Ref
-0.02
Yaw
-1.3
-0.04

-1.4
-0.06

-1.5
-0.08
0 200 400 600 800 1000 1200 1400 1600 1800 2000

-1.6
0.08
Yaw
-1.7
0 200 400 600 800 1000 1200 1400 1600 1800 2000 0.06

0.04
Time (ms)
0.02

0
Fig.3- Adaptive control using modified error -0.02

-0.04
0 200 400 600 800 1000 1200 1400 1600 1800 2000

1.7 Time (ms)

Ref
Pitch
1.6

Fig.6-Transient error of Auxiliary error structure

1.5

1.4

1.3
1.8
Ref
Pitch
0 200 400 600 800 1000 1200 1400 1600 1800 2000 1.7

-1.2 1.6
Ref
-1.3 Yaw 1.5

-1.4 1.4

-1.5 1.3
0 500 1000 1500 2000 2500

-1.6
-1.2
Ref
-1.7 Yaw
0 200 400 600 800 1000 1200 1400 1600 1800 2000 -1.3

Time (ms) -1.4

-1.5

Fig.4- Adaptive control using auxiliary error -1.6

-1.7
0 200 400 600 800 1000 1200 1400 1600 1800 2000

Time (ms)

Fig.7-Augmented error in presence of disturbance

The type of output response for both control strategies

depends on controller gains. (K and K for auxiliary
strategy and for modified error strategy.) To compare
these methods in similar situation and in order to have a fast
response and a small overshoot, these gains have been
chosen as according to the following relation:

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[9] Narendra, Kumpati S., and Anuradha M. Annaswamy. Stable adaptive

systems. Courier Dover Publications, 2005.
K =2 K
[10] Ekstrand, Bertil. "Equations of motion for a two-axes gimbal system."
Or Aerospace and Electronic Systems, IEEE Transactions on 37.3 (2001):
1083-1091.
1 [11] Slotine, Jean-Jacques E., and Weiping Li. "On the adaptive control of
( )= robot manipulators." The International Journal of Robotics
+ 2Λ + Λ
Research 6.3 (1987): 49-59.
Table 1 shows the comparison between the modified and [12] Kennedy, Peter J., and Rhonda L. Kennedy. "Direct versus indirect
auxiliary error structure from the point of time response and mean line of sight (LOS) stabilization." Control Systems Technology, IEEE
Transactions on 11.1 (2003): 3-15.
square errors. As it can be from this table, the time response and
[13] Wang, Li, et al. "Line-of-sight stabilization system based on
mean square error of auxiliary error approach is much better than
fractional-order control." Systems and Control in Aerospace and
the modified error approach; note that the computation time for Astronautics, 2008. ISSCAA 2008. 2nd International Symposium on.
modified error is less than the auxiliary error approach. IEEE, 2008.
[14] Ji, Wei, et al. "Cascade servo control for LOS stabilization of opto-
electronic tracking platform—design and self-tuning." Information
and Automation, 2009. ICIA'09. International Conference on. IEEE,
Control Time Response for Mean Squared Error 2009.
Structure Yaw & Pitch axis for Yaw & Pitch axis [15] Kim, S. B., S. H. Kim, and Y. K. Kwak. "Robust control for a two-
(ms) axis gimbaled sensor system with multivariable feedback systems."
Control Theory & Applications, IET 4.4 (2010): 539-551.
Modified Error 0.175 0.195 0.2422 0.2641
[16] Tan, K. K., et al. "Composite control of a gyro mirror line-of-sight
stabilization platform—design and auto-tuning." ISA transactions 40.2
Auxiliary Error 0.124 0.130 0.0846 0.1088 (2001): 155-171.
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systems. DoverPublications. com, 2012.
V. CONCLUSION
In this paper, the adaptive control of a two gimbal system
with modified error approach and augmented method is
compared. It is shown that the adaptive control with
modified error structure is simpler, easy to implement and
has less calculation but on the other hand the auxiliary error
structure has a superior performance and time response. The
Lyapunov theory guarantee the stability of the proposed
method and the convergence of error to zero is achieved by
using stable filters that convert the non SPR error model to a
SPR one.

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